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dc.contributor.author | Cuenca Lacruz, Ángel Miguel | es_ES |
dc.contributor.author | Ojha, Unnati | es_ES |
dc.contributor.author | Salt Llobregat, Julián José | es_ES |
dc.contributor.author | Chow, Mo-Yuen | es_ES |
dc.date.accessioned | 2016-06-13T07:46:31Z | |
dc.date.available | 2016-06-13T07:46:31Z | |
dc.date.issued | 2015-05-10 | |
dc.identifier.issn | 0020-0255 | |
dc.identifier.uri | http://hdl.handle.net/10251/65708 | |
dc.description.abstract | [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. | es_ES |
dc.description.sponsorship | 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). | |
dc.language | Inglés | es_ES |
dc.publisher | Elsevier | es_ES |
dc.relation.ispartof | Information Sciences | es_ES |
dc.rights | Reserva de todos los derechos | es_ES |
dc.subject | Networked Control System | es_ES |
dc.subject | Unmanned ground vehicle | es_ES |
dc.subject | Network delay | es_ES |
dc.subject | Packet disorder | es_ES |
dc.subject | Multi-rate control system | es_ES |
dc.subject | PID controller | es_ES |
dc.subject.classification | INGENIERIA DE SISTEMAS Y AUTOMATICA | es_ES |
dc.title | A non-uniform multi-rate control strategy for a Markov chain-driven Networked Control System | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.1016/J.INS.2015.05.035 | |
dc.relation.projectID | info:eu-repo/grantAgreement/MINECO//TEC2012-31506/ES/DESARROLLO Y VALIDACION DE TECNICAS DE AHORRO ENERGETICO EN APLICACIONES DE CONTROL/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/MICINN//DPI2011-28507-C02-01/ES/DESARROLLO DE CONTROLADORES BASADOS EN MISIONES/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/UPV//PAID-00-12/ | es_ES |
dc.rights.accessRights | Abierto | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Instituto Universitario de Automática e Informática Industrial - Institut Universitari d'Automàtica i Informàtica Industrial | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica | es_ES |
dc.description.bibliographicCitation | 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 | es_ES |
dc.description.accrualMethod | S | es_ES |
dc.relation.publisherversion | http://dx.doi.org/10.1016/j.ins.2015.05.035 | es_ES |
dc.description.upvformatpinicio | 31 | es_ES |
dc.description.upvformatpfin | 47 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 321 | es_ES |
dc.relation.senia | 301203 | es_ES |
dc.identifier.eissn | 1872-6291 | |
dc.contributor.funder | Ministerio de Economía y Competitividad | |
dc.contributor.funder | Universitat Politècnica de València | |
dc.contributor.funder | Ministerio de Ciencia e Innovación | es_ES |