Realization and validation of Delay Tolerant Behavior Control based Adaptive Bandwidth Allocation for networked control system

In network based path tracking control of systems with multiple unmanned ground vehicles (UGVs), performance can be affected by network constraints including time-varying network delays and bandwidth limitation. Different static as well as dynamic bandwidth management strategies like Larger Error First (LEF), Rate Monotonic (RM), Behavior Control (BC) Based Allocation etc. have been proposed in the past to allocate bandwidth. However, these existing methods are not robust to network delay which is an important constraint in a Network Control System (NCS). The Delay Tolerant Behavior Control (DTBC) based Adaptive Bandwidth Allocation is one of the bandwidth allocation techniques that is robust to network delays[1]. In this paper, DTBC algorithm has been validated and compared to the performance of existing algorithms in an intelligent space environment. IEEE 802.15.4 standard wireless protocol was used for communication between the unmanned ground vehicles (UGVs) and the Supervisory Controller. A T-test was conducted and we found that at network delays of more than 200ms we can say with 99% confidence that DTBC's performance is better than the existing algorithms. Furthermore, using the slope of the linear fit calculated for each algorithm's performance at different network delays, the performance of DTBC was found to be at least 25% to at most 57% better than the existing algorithms.

[1]  Wei Zhang,et al.  Scheduling and feedback co-design for networked control systems , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[2]  Yu-Wei Su,et al.  A Comparative Study of Wireless Protocols: Bluetooth, UWB, ZigBee, and Wi-Fi , 2007, IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society.

[3]  Hideki Hashimoto,et al.  Mobile agent gain scheduler control in inter-continental intelligent space , 2004, SICE 2004 Annual Conference.

[4]  John P. Lehoczky,et al.  The rate monotonic scheduling algorithm: exact characterization and average case behavior , 1989, [1989] Proceedings. Real-Time Systems Symposium.

[5]  Saïd Mammar,et al.  A new robust control system with optimized use of the lane detection data for vehicle full lateral control under strong curvatures , 2006, 2006 IEEE Intelligent Transportation Systems Conference.

[6]  L. Nouveliere,et al.  Speed Limitation Based on an Advanced Curve Warning System , 2007, 2007 IEEE Intelligent Vehicles Symposium.

[7]  G. Cook,et al.  Use of a preview control scheme with knowledge of future trajectory information for a lane tracking controller on a wheeled mobile robot , 2008, 2008 34th Annual Conference of IEEE Industrial Electronics.

[8]  Mo-Yuen Chow,et al.  Predictive control of multiple UGVs in a NCS with adaptive bandwidth allocation , 2009, 2009 35th Annual Conference of IEEE Industrial Electronics.

[9]  Upamanyu Madhow,et al.  Fair scheduling with tunable latency: a round-robin approach , 2003, TNET.

[10]  Mo-Yuen Chow,et al.  Behavioral control based adaptive bandwidth allocation in a system of Unmanned Ground Vehicles , 2010, IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society.

[11]  Josep M. Fuertes,et al.  LEF closed-loop scheduling policy for real-time control systems , 2005, 2005 IEEE Conference on Emerging Technologies and Factory Automation.

[12]  Mo-Yuen Chow,et al.  Predictive constrained gain scheduling for UGV path tracking in a networked control system , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  R. Vanijjirattikhan,et al.  Feedback preprocessed unmanned ground vehicle network-based controller characterization , 2004, 30th Annual Conference of IEEE Industrial Electronics Society, 2004. IECON 2004.

[14]  Youxian Sun,et al.  Simulation based performance analysis of networked control systems with resource constraints , 2004, 30th Annual Conference of IEEE Industrial Electronics Society, 2004. IECON 2004.

[15]  Y. Tipsuwan,et al.  On the gain scheduling for networked PI controller over IP network , 2004, IEEE/ASME Transactions on Mechatronics.

[16]  Janne Riihijärvi,et al.  Performance study of IEEE 802.15.4 using measurements and simulations , 2006, IEEE Wireless Communications and Networking Conference, 2006. WCNC 2006..

[17]  Steven C. Peters,et al.  Mobile robot path tracking of aggressive maneuvers on sloped terrain , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Hideki Hashimoto,et al.  Path tracking control of mobile robots using a quadratic curve , 1996, Proceedings of Conference on Intelligent Vehicles.