Journal
AUTOMATICA
Volume 70, Issue -, Pages 101-108Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2016.03.032
Keywords
Networked control systems; Predictor-based control; Event-triggered control
Funding
- Israel Science Foundation [1128/14]
Ask authors/readers for more resources
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. (C) 2016 Elsevier Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available