Predictor-based networked control under uncertain transmission delays
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Anton Selivanov [1] ; Emilia Fridman [1]
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[1] Tel Aviv University
Tel Aviv University
Israel
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- Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 70, 2016, págs. 101-108
- Idioma: inglés
- Enlaces
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Resumen
We consider state-feedback predictor-based control of networked control systems with large time-varying communication delays. We show that even a small controller-to-actuators delay uncertainty may lead to a non-small residual error in a networked control system and reveal how to analyze such systems. Then we design an event-triggered predictor-based controller with sampled measurements and demonstrate that, depending on the delay uncertainty, one should choose various predictor models to reduce the error due to triggering. For the systems with a network only from a controller to actuators, we take advantage of the continuously available measurements by using a continuous-time predictor and employing a recently proposed switching approach to event-triggered control. By an example of an inverted pendulum on a cart we demonstrate that the proposed approach is extremely efficient when the uncertain time-varying network-induced delays are too large for the system to be stabilizable without a predictor.
