Passivity-based trajectory tracking control with adaptive sampling over a wireless network
Uncertainty in wireless networks, such as time-varying delays and packet loss, often leads to instability and degraded performance in Networked Control Systems (NCS). Further, limited network resources impose constraints on communication between plants and controllers. In this paper, we use passivit...
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| creator | Eyisi, E. Koutsoukos, X. Kottenstette, N. |
| description | Uncertainty in wireless networks, such as time-varying delays and packet loss, often leads to instability and degraded performance in Networked Control Systems (NCS). Further, limited network resources impose constraints on communication between plants and controllers. In this paper, we use passivity combined with adaptive sampling to design a control architecture for trajectory tracking. The proposed architecture can tolerate time-varying delays and packet loss while efficiently utilizing network bandwidth. We provide analytical results to show passivity of the proposed networked control architecture and trajectory tracking. We demonstrate our approach using a case study on the trajectory tracking control of a robotic manipulator over a wireless network. The simulation results show the efficient utilization of network resources as well as robustness to network uncertainties. |
| doi_str_mv | 10.1109/ISRCS.2012.6309306 |
| format | Conference Proceeding |
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The simulation results show the efficient utilization of network resources as well as robustness to network uncertainties.</description><subject>Adaptive systems</subject><subject>Delay</subject><subject>Manipulators</subject><subject>Mathematical model</subject><subject>Trajectory</subject><subject>Wireless networks</subject><isbn>9781467301619</isbn><isbn>1467301612</isbn><isbn>9781467301626</isbn><isbn>1467301639</isbn><isbn>1467301620</isbn><isbn>9781467301633</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2012</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVkE1LAzEYhCMiKLV_QC_5A7vmTXbzcZTiR6GgWL14KUn2XU277S5JaOm_b4u9OJeZ4YE5DCF3wEoAZh6m84_JvOQMeCkFM4LJCzI2SkMllWAgubz818Fck3FKS3aU5kIbfUO-321KYRvyvnA2YUNztEv0uY_7U_SrsPmhvt_k2Hd0F_IvtY0dctgiTXY9dCfcbzFSe6QRO0yJbjDv-ri6JVet7RKOzz4iX89Pn5PXYvb2Mp08zooAopKFR8aUQGU0a53VTVNLAbxGMK1jILzjzCoFiNqLyjtQDWrdoqlap2oOtRiR-7_dgIiLIYa1jfvF-RFxACXjViE</recordid><startdate>201208</startdate><enddate>201208</enddate><creator>Eyisi, E.</creator><creator>Koutsoukos, X.</creator><creator>Kottenstette, N.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201208</creationdate><title>Passivity-based trajectory tracking control with adaptive sampling over a wireless network</title><author>Eyisi, E. ; Koutsoukos, X. ; Kottenstette, N.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i1346-ce0073e7980fba8dd563125e19fb013cb20a771ee8c34cb17de88fe94fb752153</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Adaptive systems</topic><topic>Delay</topic><topic>Manipulators</topic><topic>Mathematical model</topic><topic>Trajectory</topic><topic>Wireless networks</topic><toplevel>online_resources</toplevel><creatorcontrib>Eyisi, E.</creatorcontrib><creatorcontrib>Koutsoukos, X.</creatorcontrib><creatorcontrib>Kottenstette, N.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Eyisi, E.</au><au>Koutsoukos, X.</au><au>Kottenstette, N.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Passivity-based trajectory tracking control with adaptive sampling over a wireless network</atitle><btitle>2012 5th International Symposium on Resilient Control Systems</btitle><stitle>ISRCS</stitle><date>2012-08</date><risdate>2012</risdate><spage>130</spage><epage>136</epage><pages>130-136</pages><isbn>9781467301619</isbn><isbn>1467301612</isbn><eisbn>9781467301626</eisbn><eisbn>1467301639</eisbn><eisbn>1467301620</eisbn><eisbn>9781467301633</eisbn><abstract>Uncertainty in wireless networks, such as time-varying delays and packet loss, often leads to instability and degraded performance in Networked Control Systems (NCS). Further, limited network resources impose constraints on communication between plants and controllers. In this paper, we use passivity combined with adaptive sampling to design a control architecture for trajectory tracking. The proposed architecture can tolerate time-varying delays and packet loss while efficiently utilizing network bandwidth. We provide analytical results to show passivity of the proposed networked control architecture and trajectory tracking. We demonstrate our approach using a case study on the trajectory tracking control of a robotic manipulator over a wireless network. The simulation results show the efficient utilization of network resources as well as robustness to network uncertainties.</abstract><pub>IEEE</pub><doi>10.1109/ISRCS.2012.6309306</doi><tpages>7</tpages><oa>free_for_read</oa></addata></record> |
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| subjects | Adaptive systems Delay Manipulators Mathematical model Trajectory Wireless networks |
| title | Passivity-based trajectory tracking control with adaptive sampling over a wireless network |
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