Authors:
S. Falasca
1
;
M. Gamba
1
and
A. Bicchi
2
Affiliations:
1
Interdepartmental Research Center “E. Piaggio”, Italy
;
2
Interdepartmental Research Center “E. Piaggio” and Istituto Italiano di Tecnologia, Italy
Keyword(s):
Networked Control System, Packet-switching Networks, Model-based Control, Time-varying Delays.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Distributed Control Systems
;
Industrial Networks and Automation
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Modeling, Analysis and Control of Hybrid Dynamical Systems
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
The problem of the stabilisation of a nonlinear system via output-feedback dynamic control is addressed, under the assumption that every communication between the plant and the controller is subject to network-induced constraints. These constraints include variable transfer intervals; time varying, large communication delays; non-simultaneous access to the network. A control technique that copes with these constraints is presented which is based on recent results addressing the problem of static state-feedback. The stability of the resulting nonlinear networked control system is assessed. Network-in-the-loop experiment results are presented, which confirm that the proposed method is effective.