Remote control of mechatronic systems over communication networks

O. Roesch (1) , H. Roth (1) , Silviu-Iulian Niculescu (2)

1 University of Siegen
2 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]

This paper presents different techniques for the remote control of mechatronic systems over communication networks. The first part is devoted to a virtual laboratory for educational purposes. This system can be activated at distance, but the control loop itself runs locally. The second part of the paper describes a new approach for the control of dynamical systems with a stochastically varying delay in the input, caused by the signal transmission over the network. The delay is described by a probability distribution model, and some simple control laws are proposed. Furthermore, the properties (asymptotic stability, sensibility mechanism with respect to parameters' variations) are analyzed for the corresponding closed-loop system. An illustrative example (simplified helicopter model) ends the paper. © 2005 IEEE.

Mots clés: Distributed delay; Gamma distribution; Network control; Virtual labs

Domaines: Automatique / Robotique

O. Roesch, H. Roth, Silviu-Iulian Niculescu. Remote control of mechatronic systems over communication networks. IEEE International Conference on Mechatronics and Automation, ICMA 2005, Jul 2005, Niagara Falls, ON, Canada. pp.1648-1653. ⟨hal-02294307⟩