NDLI: Experimental validation of a new moving horizon estimator approach for networked control systems with unsynchronized clocks

Content Provider	IEEE Xplore Digital Library
Author	Philipp, P. Altmannshofer, S.
Copyright Year	2012
Description	Author affiliation: Inst. of Autom. Control, Tech. Univ. Munchen, Garching, Germany (Philipp, P.; Altmannshofer, S.)
Abstract	This paper presents the realization of a new moving horizon estimator approach for nonlinear networked control systems and its experimental validation. Each sensor is equipped with an unsynchronized clock and transmits its time-stamped and non-uniformly sampled measurements via packets to the estimator site over a digital communication network. These packets are subject to random delay or might even be completely lost. The estimation problem is formulated as a suitable nonlinear program which can be efficiently implemented in real-time. The key features of the proposed method include the independence from the underlying communication protocols as well as from clock synchronization. Furthermore, the estimator concept allows the controller to be designed for the nominal case, i.e. without considering the network. The measurements are conducted on a networked pendulum test-rig. The swing-up and stabilization of the real pendulum represents a challenging benchmark for the estimator due to the unstable and non-minimum phase system dynamics along with the network-induced non-negligible time delays and packet drops. A two-degree-of-freedom control scheme is used throughout the experiments. Due to the good performance of the proposed estimator, a simple linear LQR controller is sufficient for the feedback part.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	4939
Ending Page	4944
File Size	494992
Page Count	6
File Format	PDF
ISBN	9781457710957
ISSN	07431619
e-ISBN	9781457710964
e-ISBN	9781467321020
DOI	10.1109/ACC.2012.6315222
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-27
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Clocks Optimization Vectors Real-time systems Feedforward neural networks Protocols Feedback control
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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