Cuenca Lacruz, ÁM.; Ojha, U.; Salt Llobregat, JJ.; Chow, M. (2015). A non-uniform multi-rate control strategy for a Markov chain-driven Networked Control System. Information Sciences. 321:31-47. https://doi.org/10.1016/J.INS.2015.05.035
Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/65708
Title:
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A non-uniform multi-rate control strategy for a Markov chain-driven Networked Control System
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Author:
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Cuenca Lacruz, Ángel Miguel
Ojha, Unnati
Salt Llobregat, Julián José
Chow, Mo-Yuen
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UPV Unit:
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Universitat Politècnica de València. Instituto Universitario de Automática e Informática Industrial - Institut Universitari d'Automàtica i Informàtica Industrial
Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
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Issued date:
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Abstract:
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[EN] In this work, a non-uniform multi-rate control strategy is applied to a kind of Networked Control System (NCS) where a wireless path tracking control for an Unmanned Ground Vehicle (UGV) is carried out. The main aims ...[+]
[EN] In this work, a non-uniform multi-rate control strategy is applied to a kind of Networked Control System (NCS) where a wireless path tracking control for an Unmanned Ground Vehicle (UGV) is carried out. The main aims of the proposed strategy are to face time-varying network-induced delays and to avoid packet disorder. A Markov chain-driven NCS scenario will be considered, where different network load situations, and consequently, different probability density functions for the network delay are assumed. In order to assure mean-square stability for the considered NCS, a decay-rate based sufficient condition is enunciated in terms of probabilistic Linear Matrix Inequalities (LMIs). Simulation results show better control performance, and more accurate path tracking, for the scheduled (delay-dependent) controller than for the non-scheduled one (i.e. the nominal controller when delays appear). Finally, the control strategy is validated on an experimental test-bed.
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Subjects:
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Networked Control System
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Unmanned ground vehicle
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Network delay
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Packet disorder
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Multi-rate control system
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PID controller
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Copyrigths:
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Reserva de todos los derechos
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Source:
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Information Sciences. (issn:
0020-0255
) (eissn:
1872-6291
)
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DOI:
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10.1016/J.INS.2015.05.035
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Publisher:
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Elsevier
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Publisher version:
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http://dx.doi.org/10.1016/j.ins.2015.05.035
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Project ID:
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info:eu-repo/grantAgreement/MINECO//TEC2012-31506/ES/DESARROLLO Y VALIDACION DE TECNICAS DE AHORRO ENERGETICO EN APLICACIONES DE CONTROL/
info:eu-repo/grantAgreement/MICINN//DPI2011-28507-C02-01/ES/DESARROLLO DE CONTROLADORES BASADOS EN MISIONES/
info:eu-repo/grantAgreement/UPV//PAID-00-12/
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Thanks:
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This work was supported in part by Grants TEC2012-31506 from the Spanish Ministry of Education, DPI2011-28507-C02-01 by the Spanish Ministry of Economy, and PAID-00-12 from Technical University of Valencia (Spain). In ...[+]
This work was supported in part by Grants TEC2012-31506 from the Spanish Ministry of Education, DPI2011-28507-C02-01 by the Spanish Ministry of Economy, and PAID-00-12 from Technical University of Valencia (Spain). In addition, this research work has been developed as a result of a mobility stay funded by the Erasmus Mundus Programme of the European Commission under the Transatlantic Partnership for Excellence in Engineering (TEE Project).
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Type:
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Artículo
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