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Author Eyisi, Emeka ♦ Koutsoukos, Xenofon ♦ Kottenstette, Nicholas
Source CiteSeerX
Content type Text
File Format PDF
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Wireless Network ♦ Adaptive Sampling ♦ Passivity-based Trajectory Tracking Control ♦ Trajectory Tracking ♦ Packet Loss ♦ Network Bandwidth ♦ Time-varying Delay ♦ Simulation Result ♦ Limited Network Resource ♦ Networked Control System ♦ Robotic Manipulator ♦ Efficient Utilization ♦ Case Study ♦ Proposed Architecture ♦ Network Resource ♦ Networked Control Architecture ♦ Control Architecture ♦ Network Uncertainty ♦ Analytical Result ♦ Abstract Uncertainty
Abstract Abstract — Uncertainty in wireless networks, such as timevarying delays and packet loss, often leads to instability and degraded performance in Networked Control Systems (NCS). Further, limited network resources impose constraints on communication between plants and controllers. In this paper, we use passivity combined with adaptive sampling to design a control architecture for trajectory tracking. The proposed architecture can tolerate time-varying delays and packet loss while efficiently utilizing network bandwidth. We provide analytical results to show passivity of the proposed networked control architecture and trajectory tracking. We demonstrate our approach using a case study on the trajectory tracking control of a robotic manipulator over a wireless network. The simulation results show the efficient utilization of network resources as well as robustness to network uncertainties. I.
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study