Constrained Control Over Network by Index Feedback and Experimental Verification

This paper proposes a remote control method for a linear system with pointwise-in-time state and/or control constraints. Our technique guarantees achievement of tracking performance and constraint fulfillment under simultaneous occurrence of some phenomena over communication links, such as arbitrary and unforeseeable delays and lots of packet losses. Our ideas are to feedback information about not a state but a state-existing area and to share maximal output admissible sets with reference governor and switching control strategy that consist of the proposed technique. Through numerical and experimental examples, we demonstrate effectiveness of the proposed method.

[1]  Alberto Bemporad,et al.  Hybrid model predictive control based on wireless sensor feedback : An experimental study , 2010 .

[2]  Y. Ohta,et al.  Exact Determinations of the Maximal Output Admissible Set for a Class of Nonlinear Systems , 2005, CDC 2005.

[3]  Stefano Battilotti.  Control over a communication channel with random noise and delays , 2008, Autom..

[4]  Jing Sun,et al.  A Multi-mode Switching-based Command Tracking in Network Controlled Systems with Pointwise-in-Time Constraints and Disturbance Inputs , 2006, 2006 6th World Congress on Intelligent Control and Automation.

[5]  Panos J. Antsaklis,et al.  Guest Editorial Special Issue on Networked Control Systems , 2004, IEEE Trans. Autom. Control..

[6]  Koji Tsumura,et al.  Performance Analysis of Control Systems under Limited Data Rates , 2008 .

[7]  Alessandro Casavola,et al.  Supervision of networked dynamical systems under coordination constraints , 2006, IEEE Transactions on Automatic Control.

[8]  Kenji Hirata,et al.  Reference Governor for Constrained Systems with Time-varying References , 2006, 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems.

[9]  Ilya V. Kolmanovsky,et al.  Nonlinear tracking control in the presence of state and control constraints: a generalized reference governor , 2002, Autom..

[10]  S Di Cairano,et al.  Rate limited reference governor for network controlled systems , 2010, Proceedings of the 2010 American Control Conference.

[11]  K. T. Tan,et al.  Linear systems with state and control constraints: the theory and application of maximal output admissible sets , 1991 .

[12]  Tamer Basar,et al.  Optimal control of LTI systems over unreliable communication links , 2006, Autom..

[13]  Graham C. Goodwin,et al.  A moving horizon approach to Networked Control system design , 2004, IEEE Transactions on Automatic Control.

[14]  Toshiharu Sugie,et al.  Off-Line Reference Shaping of Periodic Trajectories for Constrained Systems With Uncertainties , 2008, IEEE Transactions on Automatic Control.

[15]  Huijun Gao,et al.  Network-Based ${{\cal H}}_{\!\!\!\infty }$ Output Tracking Control , 2008, IEEE Transactions on Automatic Control.

[16]  Petros Kapasouris.  Design for performance enhancement in feedback control systems with multiple saturating nonlinearities , 1988 .

[17]  Alberto Bemporad,et al.  Reference governor for constrained nonlinear systems , 1998, IEEE Trans. Autom. Control..