Discrete-time control framework for robots over unreliable packet-switching communication network

Seng Ming Puah, Yen Chen Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a control framework for networked robotic systems with the consideration of discrete nature of communication network and controller. In order to enhance regulation performance, a local controller is developed to transform the dynamics of robotic systems so that the output signal includes both position and velocity information. For the input/output signals of the robot, a discretization block is exploited to convert continuous-time signals to discrete-time signals, and vice versa. The issue of communication delay is coped with by utilizing wave-variable transformation, while the adverse effects of packet losses are ameliorated by a novel packet modulation. Based on the proposed control framework, the passivity of the interconnected control system and steadystate position regulation are studied. The performance of the proposed networked control system is evaluated by numerical simulations.

Original languageEnglish
Title of host publication11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
PublisherIEEE Computer Society
Pages892-897
Number of pages6
ISBN (Print)9781479928378
DOIs
Publication statusPublished - 2014
Event11th IEEE International Conference on Control and Automation, IEEE ICCA 2014 - Taichung, Taiwan
Duration: 2014 Jun 182014 Jun 20

Publication series

NameIEEE International Conference on Control and Automation, ICCA
ISSN (Print)1948-3449
ISSN (Electronic)1948-3457

Other

Other11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
CountryTaiwan
CityTaichung
Period14-06-1814-06-20

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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  • Cite this

    Puah, S. M., & Liu, Y. C. (2014). Discrete-time control framework for robots over unreliable packet-switching communication network. In 11th IEEE International Conference on Control and Automation, IEEE ICCA 2014 (pp. 892-897). [6871039] (IEEE International Conference on Control and Automation, ICCA). IEEE Computer Society. https://doi.org/10.1109/ICCA.2014.6871039