Design of networked control systems using passivity (2012)
| Venue: | IEEE Trans. Control Systems |
| Citations: | 3 - 2 self |
BibTeX
@ARTICLE{Kottenstette12designof,
author = {Nicholas Kottenstette and Senior Member and Joseph F. Hall Iii and Xenofon Koutsoukos and Senior Member and Janos Sztipanovits and Panos Antsaklis},
title = {Design of networked control systems using passivity},
journal = {IEEE Trans. Control Systems},
year = {2012}
}
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Abstract
Abstract — Real-life cyber physical systems, such as automotive vehicles, building automation systems, and groups of unmanned vehicles are monitored and controlled by networked control systems (NCS). The overall system dynamics emerges from the interaction among physical dynamics, computational dynamics, and communication networks. Network uncertainties such as time-varying delay and packet loss cause significant challenges. This paper proposes a passive control architecture for designing NCS that are insensitive to network uncertainties. We describe the architecture for a system consisting of a robotic manipulator controlled by a digital controller over a wireless network and show that the system is stable even in the presence of timevarying delays. Experimental results demonstrate the advantages of the passivity-based architecture with respect to stability and performance and show that the system is insensitive to network uncertainties. Index Terms — Automation, cyber-physical system, discrete time systems, industrial control, Lyapunov methods, networked control systems, nonlinear control systems, passivity-based control, robot control, stability analysis, telerobotics, time-varying systems. I.
Keyphrases
networked control system network uncertainty control system discrete time system physical dynamic computational dynamic passivity-based architecture lyapunov method communication network packet loss cause significant challenge unmanned vehicle nonlinear control system abstract real-life cyber physical system passivity-based control wireless network automation system passive control architecture automotive vehicle robotic manipulator index term automation stability analysis digital controller overall system dynamic time-varying delay cyber-physical system industrial control experimental result time-varying system
