A non-uniform multi-rate control strategy for a Markov chain-driven networked control system. (English) Zbl 1386.93293
Summary: In this work, a non-uniform multi-rate control strategy is applied to a kind of Networked Control System (NCS) where a wireless path tracking control for an Unmanned Ground Vehicle (UGV) is carried out. The main aims of the proposed strategy are to face time-varying network-induced delays and to avoid packet disorder. A Markov chain-driven NCS scenario will be considered, where different network load situations, and consequently, different probability density functions for the network delay are assumed. In order to assure mean-square stability for the considered NCS, a decay-rate based sufficient condition is enunciated in terms of probabilistic Linear Matrix Inequalities (LMIs). Simulation results show better control performance, and more accurate path tracking, for the scheduled (delay-dependent) controller than for the non-scheduled one (i.e. the nominal controller when delays appear). Finally, the control strategy is validated on an experimental testbed.
MSC:
| 93E15 | Stochastic stability in control theory |
| 93E03 | Stochastic systems in control theory (general) |
| 90B15 | Stochastic network models in operations research |
| 60J10 | Markov chains (discrete-time Markov processes on discrete state spaces) |
| 93C85 | Automated systems (robots, etc.) in control theory |
Keywords:
networked control system; unmanned ground vehicle; network delay; packet disorder; multi-rate control system; PID controllerReferences:
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