This paper addresses the problem of stabilizing uncertain nonlinear plants over a shared limited-bandwidth packet-switching network. While conventional control loops are designed to work with circuit-switching networks, where dedicated communication channels provide almost constant bit rate and delay, many networks, such as Ethernet, organize data transmission in packets, carrying larger amounts of information at less predictable rates. We adopt a model-based approach to remotely compute a predictive control signal on a suitable time horizon. By exploiting the inherent packets payload, this technique effectively reduces the bandwidth required to guarantee stability. Communications are assumed to be ruled by a rather general protocol model, which encompasses many protocols used in practice. An explicit bound on the combined effects of the maximum time between consecutive accesses to each node (MATI) and the transmission and processing delays (MAD), for both measurements and control packets, is provided as a function of the basin of attraction and the model accuracy. Our control strategy is shown to be robust with respect to sector-bounded uncertainties in the plant model. Sampling of the control signal is also explicitly taken into account. A case study is presented which enlightens the great improvements induced by the packet-based control strategy over methods that send a single control value in each packet. © 2012 Elsevier Ltd. All rights reserved.
|Autori:||Greco L; Chaillet A; Bicchi A|
|Titolo:||Exploiting Packet Size in Uncertain Nonlinear Networked Control Systems|
|Anno del prodotto:||2012|
|Digital Object Identifier (DOI):||10.1016/j.automatica.2012.08.027|
|Appare nelle tipologie:||1.1 Articolo in rivista|