Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems

The nature of wireless propagation may reduce the QoS of the applications, such that some packages can be delayed or lost. For this reason, the design of wireless control applications must be faced in a holistic way to avoid degrading the performance of the control algorithms. This paper is aimed at...

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Autores: Calvo Gordillo, Isidro, Villar, Eneko, Napole, Cristian, Fernández, Aitor, Barambones Caramazana, Oscar, Gil-García Leiva, José Miguel
Formato: artículo
Fecha de publicación:2021
País:España
Recursos:Universidad del País Vasco
Repositorio:Addi. Archivo Digital para la Docencia y la Investigación
OAI Identifier:oai:addi.ehu.eus:10810/54076
Acesso em linha:http://hdl.handle.net/10810/54076
Access Level:acceso abierto
Palavra-chave:industrial internet of things (IIoT)
wireless control systems
industry 4.0
Bee
LabVIEW
fuzzy control
reliable control systems
robotics
gain scheduling fuzzy PID controller
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spelling Reliable Control Applications with Wireless Communication Technologies: Application to Robotic SystemsCalvo Gordillo, IsidroVillar, EnekoNapole, CristianFernández, AitorBarambones Caramazana, OscarGil-García Leiva, José Miguelindustrial internet of things (IIoT)wireless control systemsindustry 4.0BeeLabVIEWfuzzy controlreliable control systemsroboticsgain scheduling fuzzy PID controllerThe nature of wireless propagation may reduce the QoS of the applications, such that some packages can be delayed or lost. For this reason, the design of wireless control applications must be faced in a holistic way to avoid degrading the performance of the control algorithms. This paper is aimed at improving the reliability of wireless control applications in the event of communication degradation or temporary loss at the wireless links. Two controller levels are used: sophisticated algorithms providing better performance are executed in a central node, whereas local independent controllers, implemented as back-up controllers, are executed next to the process in case of QoS degradation. This work presents a reliable strategy for switching between central and local controllers avoiding that plants may become uncontrolled. For validation purposes, the presented approach was used to control a planar robot. A Fuzzy Logic control algorithm was implemented as a main controller at a high performance computing platform. A back-up controller was implemented on an edge device. This approach avoids the robot becoming uncontrolled in case of communication failure. Although a planar robot was chosen in this work, the presented approach may be extended to other processes. XBee 900 MHz communication technology was selected for control tasks, leaving the 2.4 GHz band for integration with cloud services. Several experiments are presented to analyze the behavior of the control application under different circumstances. The results proved that our approach allows the use of wireless communications, even in critical control applications.This research was funded by the Basque Government through the project EKOHEGAZ (ELKARTEK KK-2021/00092), by Diputación Foral de Álava (DFA) through the project CONAVANTER, and by UPV/EHU through the project GIU20/063.MDPI2021202120212021info:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10810/54076reponame:Addi. Archivo Digital para la Docencia y la Investigacióninstname:Universidad del País VascoIngléshttps://www.mdpi.com/1424-8220/21/21/7107/htminfo:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by/3.0/es/2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).oai:addi.ehu.eus:10810/540762026-06-18T09:23:17Z
dc.title.none.fl_str_mv Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems
title Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems
spellingShingle Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems
Calvo Gordillo, Isidro
industrial internet of things (IIoT)
wireless control systems
industry 4.0
Bee
LabVIEW
fuzzy control
reliable control systems
robotics
gain scheduling fuzzy PID controller
title_short Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems
title_full Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems
title_fullStr Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems
title_full_unstemmed Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems
title_sort Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems
dc.creator.none.fl_str_mv Calvo Gordillo, Isidro
Villar, Eneko
Napole, Cristian
Fernández, Aitor
Barambones Caramazana, Oscar
Gil-García Leiva, José Miguel
author Calvo Gordillo, Isidro
author_facet Calvo Gordillo, Isidro
Villar, Eneko
Napole, Cristian
Fernández, Aitor
Barambones Caramazana, Oscar
Gil-García Leiva, José Miguel
author_role author
author2 Villar, Eneko
Napole, Cristian
Fernández, Aitor
Barambones Caramazana, Oscar
Gil-García Leiva, José Miguel
author2_role author
author
author
author
author
dc.subject.none.fl_str_mv industrial internet of things (IIoT)
wireless control systems
industry 4.0
Bee
LabVIEW
fuzzy control
reliable control systems
robotics
gain scheduling fuzzy PID controller
topic industrial internet of things (IIoT)
wireless control systems
industry 4.0
Bee
LabVIEW
fuzzy control
reliable control systems
robotics
gain scheduling fuzzy PID controller
description The nature of wireless propagation may reduce the QoS of the applications, such that some packages can be delayed or lost. For this reason, the design of wireless control applications must be faced in a holistic way to avoid degrading the performance of the control algorithms. This paper is aimed at improving the reliability of wireless control applications in the event of communication degradation or temporary loss at the wireless links. Two controller levels are used: sophisticated algorithms providing better performance are executed in a central node, whereas local independent controllers, implemented as back-up controllers, are executed next to the process in case of QoS degradation. This work presents a reliable strategy for switching between central and local controllers avoiding that plants may become uncontrolled. For validation purposes, the presented approach was used to control a planar robot. A Fuzzy Logic control algorithm was implemented as a main controller at a high performance computing platform. A back-up controller was implemented on an edge device. This approach avoids the robot becoming uncontrolled in case of communication failure. Although a planar robot was chosen in this work, the presented approach may be extended to other processes. XBee 900 MHz communication technology was selected for control tasks, leaving the 2.4 GHz band for integration with cloud services. Several experiments are presented to analyze the behavior of the control application under different circumstances. The results proved that our approach allows the use of wireless communications, even in critical control applications.
publishDate 2021
dc.date.none.fl_str_mv 2021
2021
2021
2021
dc.type.none.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10810/54076
url http://hdl.handle.net/10810/54076
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv https://www.mdpi.com/1424-8220/21/21/7107/htm
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by/3.0/es/
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by/3.0/es/
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:Addi. Archivo Digital para la Docencia y la Investigación
instname:Universidad del País Vasco
instname_str Universidad del País Vasco
reponame_str Addi. Archivo Digital para la Docencia y la Investigación
collection Addi. Archivo Digital para la Docencia y la Investigación
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300724

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