NDLI: Passivity-Based Design of Wireless Networked Control Systems for Robustness to Time-Varying Delays

Content Provider	IEEE Xplore Digital Library
Author	Kottenstette, N. Koutsoukos, X. Hall, J. Sztipanovits, J. Antsaklis, P.
Copyright Year	2008
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. 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 wireless networked control systems 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 we show that the system is stable even in the presence of time-varying delays. We present simulation results that demonstrate the advantages of the architecture with respect to stability and performance and show that the system is insensitive to network uncertainties.
Starting Page	15
Ending Page	24
File Size	397193
Page Count	10
File Format	PDF
ISBN	9780769534770
ISSN	10528725
DOI	10.1109/RTSS.2008.14
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-11-30
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Networked control systems Robust control Time varying systems Communication system control Control systems Vehicle dynamics Uncertainty Vehicles Automatic control Computer architecture networked control systems passivity cyber-physical systems
Content Type	Text
Resource Type	Article
Subject	Computer Networks and Communications Hardware and Architecture Software

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