The possibility to remotely control a plant through a communication network offers strong advantages in terms of installation, flexibility, and maintenance. These advantages come at the price of specific challenges due to the format of the transmitted data, the network nodes scheduling, and the inherent delays. To address these obstacles, we have recently developed a control methodology that exploits the packetized nature of the transmitted data by relying on a model-based prediction of the control signal to be applied. However, this methodology was limited to static controllers. Dynamic control laws indeed require a more careful synchronization between the plant and its remote model. This paper aims at filling this gap by exploiting the transmission of the measurements history, rather than their instantaneous value only.
Packet-Based Dynamic Control of a Furuta Pendulum over Ethernet
FABBRI, TOMMASO;FENUCCI, DAVIDE;FALASCA, STEFANO;BICCHI, ANTONIO
2013-01-01
Abstract
The possibility to remotely control a plant through a communication network offers strong advantages in terms of installation, flexibility, and maintenance. These advantages come at the price of specific challenges due to the format of the transmitted data, the network nodes scheduling, and the inherent delays. To address these obstacles, we have recently developed a control methodology that exploits the packetized nature of the transmitted data by relying on a model-based prediction of the control signal to be applied. However, this methodology was limited to static controllers. Dynamic control laws indeed require a more careful synchronization between the plant and its remote model. This paper aims at filling this gap by exploiting the transmission of the measurements history, rather than their instantaneous value only.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
