Aperiodic Linear Networked Control Considering Variable Channel Delays

Aperiodic Linear Networked Control Considering Variable Channel Delays: Application to Robots Coordination (+ supplementary file)

Santos, C.
Espinosa, F.
Santiso, E.
Mazo Espinosa, M.

Mechanical, Maritime and Materials Engineering

Delft Center for Systems and Control

2015-05-27

One of the main challenges in wireless cyber-physical systems is to reduce the load of the communication channel while preserving the control performance. In this way, communication resources are liberated for other applications sharing the channel bandwidth. The main contribution of this work is the design of a remote control solution based on an aperiodic and adaptive triggering mechanism considering the current network delay of multiple robotics units. Working with the actual network delay instead of the maximum one leads to abandoning this conservative assumption, since the triggering condition is fixed depending on the current state of the network. This way, the controller manages the usage of the wireless channel in order to reduce the channel delay and to improve the availability of the communication resources. The communication standard under study is the widespread IEEE 802.11g, whose channel delay is clearly uncertain. First, the adaptive self-triggered control is validated through the TrueTime simulation tool configured for the mentioned WiFi standard. Implementation results applying the aperiodic linear control laws on four P3-DX robots are also included. Both of them demonstrate the advantage of this solution in terms of network accessing and control performance with respect to periodic and non-adaptive self-triggered alternatives.

aperiodic control implementation
adaptive self-triggered control
wireless cyber-physical systems
variable channel delays
networked robots

http://resolver.tudelft.nl/uuid:2a380731-9009-42ad-b567-8b71a6c2a762

MDPI

1424-8220

https://doi.org/10.3390/s150612454

Sensors, 15 (6), 2015

Institutional Repository

journal article

(c) 2015 The Author(s)
This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/)