Design And Experimental Verification Of State Predictive Lqg Controllers For Networked Control Systems

This paper considers a design problem of controllers for wire-less vehicles in the developed networked control system. The developed system consists of a wire-less vehicle and some computers which configure a computer network. The vehicle is controlled over the computer network. One of the computers is a router which has an active queue management mechanism to keep the queue size constant and to control congestion in the computer network. The dynamics of the vehicle over the computer network can be described as linear systems with an input time-delay. State predictive LQG controllers are designed to achieve the stability and better performances of the vehicle over the computer network. The efficacy of the designed controller is demonstrated in a numerical example and an experiment using the developed networked control system.

[1]  Masayoshi Iwahara,et al.  Permanent magnet configuration in repulsive type magnetic bearing for improved radial disturbance attentuation characteristics , 1998 .

[2]  F. Paganini,et al.  Congestion control with adaptive multipath routing based on optimization , 2006, 2006 40th Annual Conference on Information Sciences and Systems.

[3]  Mung Chiang,et al.  Cross-Layer Congestion Control, Routing and Scheduling Design in Ad Hoc Wireless Networks , 2006, Proceedings IEEE INFOCOM 2006. 25TH IEEE International Conference on Computer Communications.

[4]  Hitay Özbay,et al.  On the design of AQM supporting TCP flows using robust control theory , 2004, IEEE Transactions on Automatic Control.

[5]  João Pedro Hespanha,et al.  A Survey of Recent Results in Networked Control Systems , 2007, Proceedings of the IEEE.

[6]  Van Jacobson,et al.  Congestion avoidance and control , 1988, SIGCOMM '88.

[7]  Takehito Azuma,et al.  Development and Experiment of Networked Control Systems with Congestion Control , 2008 .

[8]  A. Kojima,et al.  Robust stabilization of a system with delays in control , 1994, IEEE Trans. Autom. Control..

[9]  Masayuki Fujita,et al.  Congestion control for TCP/AQM networks using state predictive control , 2006 .

[10]  Dong Yue,et al.  Network-based robust H ∞ control of systemswith uncertainty , 2005 .

[11]  Björn Wittenmark,et al.  Stochastic Analysis and Control of Real-time Systems with Random Time Delays , 1999 .

[12]  Saverio Mascolo,et al.  Congestion control in high-speed communication networks using the Smith principle , 1999, Autom..

[13]  Eitan Altman,et al.  Congestion control as a stochastic control problem with action delays , 1999, Autom..

[14]  Wei Zhang,et al.  Stability of networked control systems , 2001 .

[15]  Donald F. Towsley,et al.  Analysis and design of controllers for AQM routers supporting TCP flows , 2002, IEEE Trans. Autom. Control..

[16]  Takehito Azuma,et al.  A Design of Gain-scheduled Congestion Controllers using State Predictive Observers , 2008 .

[17]  Jianhong Wu,et al.  Introduction to Functional Differential Equations , 2013 .

[18]  Sotoshi Yamada,et al.  Disturbance Attenuation and H" Control of Repulsive Type Magnetic Bearing , 1997 .