Selivanov, A. orcid.org/0000-0001-5075-7229 and Fridman, E. (2016) Predictor-based networked control under uncertain transmission delays. Automatica, 70. pp. 101-108. ISSN 0005-1098
Abstract
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.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2016 Elsevier. This is an author produced version of a paper subsequently published in Automatica. Uploaded in accordance with the publisher's self-archiving policy. Article available under the terms of the CC-BY-NC-ND licence (https://creativecommons.org/licenses/by-nc-nd/4.0/). |
Keywords: | Networked control systems; Predictor-based control; Event-triggered control |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 15 Nov 2019 11:01 |
Last Modified: | 15 Nov 2019 12:02 |
Status: | Published |
Publisher: | Elsevier |
Refereed: | Yes |
Identification Number: | 10.1016/j.automatica.2016.03.032 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:153387 |