Networked control and observation for Master-Slave systems - Archive ouverte HAL Accéder directement au contenu
Chapitre D'ouvrage Année : 2009

Networked control and observation for Master-Slave systems

Résumé

This chapter concerns the design of a remote control loop constituted by a Slave system (with computing and energy limitations) and a Master computer, communicating via an Internet connection. In such a situation, the communication cost is reduced but the Quality of Service of the Internet connection is not guaranteed. In particular, when the Slave dynamics are expected to be fast enough, the network induces perturbations (delays, jitters, packet dropouts and sampling) that may damage the performance. Here, the proposed solution relies on a delay-dependent, state-feedback control, computed by the Master on the basis of an observer. This last estimates the present Slave's state from its past sampled outputs, despite the various delays. Then, the computing task is concentrated in the Master. The theoretical results are based on the Lyapunov-Krasovskii functional and the approach of LMI, which guarantee the stabilization performance with respect to the expected maximum delay of the connection. Two strategies are applied: one is a constant controller/observer gain strategy, which takes into account a fixed upperbound for the communication delay. The second strategy aims at improving the performance by adapting the gains to the available network QoS (here, with two possible upperbounds).
Fichier principal
Vignette du fichier
Networked_control.pdf (431.79 Ko) Télécharger le fichier
Origine : Fichiers éditeurs autorisés sur une archive ouverte
Loading...

Dates et versions

hal-00519520 , version 1 (20-09-2010)

Identifiants

Citer

Wenjuan Jiang, Alexandre Kruszewski, Jean-Pierre Richard, Armand Toguyeni. Networked control and observation for Master-Slave systems. Balachandran, Balakumar; Kalmár-Nagy, Tamás; Gilsinn, David E. (Eds.). Delay Differential Equations: Recent Advances and New Directions, Springer Science + Business Media, pp.31-54, 2009, ⟨10.1007/978-0-387-85594-3⟩. ⟨hal-00519520⟩
1039 Consultations
284 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More