A non-uniform multi-rate control strategy for a Markov chain-driven Networked Control System

[EN] In this work, a non-uniform multi-rate control strategy is applied to a kind of Networked Control System (NCS) where a wireless path tracking control for an Unmanned Ground Vehicle (UGV) is carried out. The main aims of the proposed strategy are to face time-varying network-induced delays and t...

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Detalles Bibliográficos
Autores: Cuenca, Ángel|||0000-0003-4466-2666, Salt Llobregat, Julián José|||0000-0002-9640-2658, Ojha, Unnati, Chow, Mo-Yuen
Tipo de recurso: artículo
Fecha de publicación:2015
País:España
Institución:Universitat Politècnica de València (UPV)
Repositorio:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Idioma:inglés
OAI Identifier:oai:riunet.upv.es:10251/65708
Acceso en línea:https://riunet.upv.es/handle/10251/65708
Access Level:acceso abierto
Palabra clave:Networked Control System
Unmanned ground vehicle
Network delay
Packet disorder
Multi-rate control system
PID controller
INGENIERIA DE SISTEMAS Y AUTOMATICA
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repository_id_str
spelling A non-uniform multi-rate control strategy for a Markov chain-driven Networked Control SystemCuenca, Ángel|||0000-0003-4466-2666Salt Llobregat, Julián José|||0000-0002-9640-2658Ojha, UnnatiChow, Mo-YuenNetworked Control SystemUnmanned ground vehicleNetwork delayPacket disorderMulti-rate control systemPID controllerINGENIERIA DE SISTEMAS Y AUTOMATICA[EN] In this work, a non-uniform multi-rate control strategy is applied to a kind of Networked Control System (NCS) where a wireless path tracking control for an Unmanned Ground Vehicle (UGV) is carried out. The main aims of the proposed strategy are to face time-varying network-induced delays and to avoid packet disorder. A Markov chain-driven NCS scenario will be considered, where different network load situations, and consequently, different probability density functions for the network delay are assumed. In order to assure mean-square stability for the considered NCS, a decay-rate based sufficient condition is enunciated in terms of probabilistic Linear Matrix Inequalities (LMIs). Simulation results show better control performance, and more accurate path tracking, for the scheduled (delay-dependent) controller than for the non-scheduled one (i.e. the nominal controller when delays appear). Finally, the control strategy is validated on an experimental test-bed.This work was supported in part by Grants TEC2012-31506 from the Spanish Ministry of Education, DPI2011-28507-C02-01 by the Spanish Ministry of Economy, and PAID-00-12 from Technical University of Valencia (Spain). In addition, this research work has been developed as a result of a mobility stay funded by the Erasmus Mundus Programme of the European Commission under the Transatlantic Partnership for Excellence in Engineering (TEE Project).ElsevierDepartamento de Ingeniería de Sistemas y AutomáticaEscuela Técnica Superior de Ingeniería Aeroespacial y Diseño IndustrialInstituto Universitario de Automática e Informática IndustrialEscuela Técnica Superior de Ingeniería IndustrialMinisterio de Economía y CompetitividadUniversitat Politècnica de ValènciaMinisterio de Ciencia e InnovaciónRepositorio Institucional de la Universitat Politècnica de València Riunet20152015-05-10journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfapplication/pdfhttps://riunet.upv.es/handle/10251/65708reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengMinisterio de Economía y Competitividad http://dx.doi.org/10.13039/501100003329 TEC2012-31506 DESARROLLO Y VALIDACION DE TECNICAS DE AHORRO ENERGETICO EN APLICACIONES DE CONTROLMinisterio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2011-28507-C02-01 DESARROLLO DE CONTROLADORES BASADOS EN MISIONESUniversitat Politècnica de València https://doi.org/10.13039/501100004233 PAID-00-12open accesshttp://purl.org/coar/access_right/c_abf2Reserva de todos los derechoshttp://rightsstatements.org/vocab/InC/1.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/657082026-06-13T07:49:27Z
dc.title.none.fl_str_mv A non-uniform multi-rate control strategy for a Markov chain-driven Networked Control System
title A non-uniform multi-rate control strategy for a Markov chain-driven Networked Control System
spellingShingle A non-uniform multi-rate control strategy for a Markov chain-driven Networked Control System
Cuenca, Ángel|||0000-0003-4466-2666
Networked Control System
Unmanned ground vehicle
Network delay
Packet disorder
Multi-rate control system
PID controller
INGENIERIA DE SISTEMAS Y AUTOMATICA
title_short A non-uniform multi-rate control strategy for a Markov chain-driven Networked Control System
title_full A non-uniform multi-rate control strategy for a Markov chain-driven Networked Control System
title_fullStr A non-uniform multi-rate control strategy for a Markov chain-driven Networked Control System
title_full_unstemmed A non-uniform multi-rate control strategy for a Markov chain-driven Networked Control System
title_sort A non-uniform multi-rate control strategy for a Markov chain-driven Networked Control System
dc.creator.none.fl_str_mv Cuenca, Ángel|||0000-0003-4466-2666
Salt Llobregat, Julián José|||0000-0002-9640-2658
Ojha, Unnati
Chow, Mo-Yuen
author Cuenca, Ángel|||0000-0003-4466-2666
author_facet Cuenca, Ángel|||0000-0003-4466-2666
Salt Llobregat, Julián José|||0000-0002-9640-2658
Ojha, Unnati
Chow, Mo-Yuen
author_role author
author2 Salt Llobregat, Julián José|||0000-0002-9640-2658
Ojha, Unnati
Chow, Mo-Yuen
author2_role author
author
author
dc.contributor.none.fl_str_mv Departamento de Ingeniería de Sistemas y Automática
Escuela Técnica Superior de Ingeniería Aeroespacial y Diseño Industrial
Instituto Universitario de Automática e Informática Industrial
Escuela Técnica Superior de Ingeniería Industrial
Ministerio de Economía y Competitividad
Universitat Politècnica de València
Ministerio de Ciencia e Innovación
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Networked Control System
Unmanned ground vehicle
Network delay
Packet disorder
Multi-rate control system
PID controller
INGENIERIA DE SISTEMAS Y AUTOMATICA
topic Networked Control System
Unmanned ground vehicle
Network delay
Packet disorder
Multi-rate control system
PID controller
INGENIERIA DE SISTEMAS Y AUTOMATICA
description [EN] In this work, a non-uniform multi-rate control strategy is applied to a kind of Networked Control System (NCS) where a wireless path tracking control for an Unmanned Ground Vehicle (UGV) is carried out. The main aims of the proposed strategy are to face time-varying network-induced delays and to avoid packet disorder. A Markov chain-driven NCS scenario will be considered, where different network load situations, and consequently, different probability density functions for the network delay are assumed. In order to assure mean-square stability for the considered NCS, a decay-rate based sufficient condition is enunciated in terms of probabilistic Linear Matrix Inequalities (LMIs). Simulation results show better control performance, and more accurate path tracking, for the scheduled (delay-dependent) controller than for the non-scheduled one (i.e. the nominal controller when delays appear). Finally, the control strategy is validated on an experimental test-bed.
publishDate 2015
dc.date.none.fl_str_mv 2015
2015-05-10
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/65708
url https://riunet.upv.es/handle/10251/65708
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Ministerio de Economía y Competitividad http://dx.doi.org/10.13039/501100003329 TEC2012-31506 DESARROLLO Y VALIDACION DE TECNICAS DE AHORRO ENERGETICO EN APLICACIONES DE CONTROL
Ministerio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2011-28507-C02-01 DESARROLLO DE CONTROLADORES BASADOS EN MISIONES
Universitat Politècnica de València https://doi.org/10.13039/501100004233 PAID-00-12
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300724

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