Stabilizing and Tracking Control of Multiple Pendulum-Cart Systems over a Shared Wireless Network
Interest in networked control systems has grown rapidly. In some remotely time critical control applications, multiple sensors and actuators are connected to controllers via a shared wireless network. Feedback and control information is transmitted over the network, and the time critical data traffic can tolerate only low bit error probability and bounded delays. This paper investigates control and communication of multiple dynamical systems in time critical networked control applications by accomplishing stabilizing and tracking control of multiple pendulum-cart systems over a shared wireless network. A testbed was developed consisting of three pendulum-carts remotely controlled by one embedded controller. The scheduling of the multiple plants accessing to the shared channel uses a time division multiplexing (TDM) scheme. PD control laws are deployed, meanwhile, Kalman filtering is considered to compensate for data packet loss in network transmission. Experimental results validate that the multiple pendulums can be stabilized while the carts accurately track the desired trajectories.
Networked control shared communication channel multiple pendulum-carts scheduling scheme Kalman filter
CHENG Hui CHEN Yousheng WONG Wingshing YANG Qiong SHEN Lianfeng BAILLIEUL John
Dept. of Automation, Sun Yat-sen University, Guangzhou, China Dept. of Information Engineering, The Chinese University of Hong Kong, Hong Kong National Mobile Communications Research Lab, Southeast University, Nanjing, China College of Engineering, Boston University, Boston. MA, USA
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
5849-5854
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）