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

Seng Ming Puah, Yen Chen Liu

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
發行者IEEE Computer Society
頁面892-897
頁數6
ISBN(列印)9781479928378
DOIs
出版狀態Published - 2014
事件11th IEEE International Conference on Control and Automation, IEEE ICCA 2014 - Taichung, Taiwan
持續時間: 2014 六月 182014 六月 20

出版系列

名字IEEE International Conference on Control and Automation, ICCA
ISSN(列印)1948-3449
ISSN(電子)1948-3457

Other

Other11th IEEE International Conference on Control and Automation, IEEE ICCA 2014
國家/地區Taiwan
城市Taichung
期間14-06-1814-06-20

All Science Journal Classification (ASJC) codes

  • 人工智慧
  • 電腦科學應用
  • 控制與系統工程
  • 電氣與電子工程
  • 工業與製造工程

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