Relevant bibliographies by topics / Networked Control with delays

Academic literature on the topic 'Networked Control with delays'

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Published: 11 March 2023

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Journal articles on the topic "Networked Control with delays"

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Ge, Yuan, Qigong Chen, Ming Jiang, and Yiqing Huang. "Modeling of Random Delays in Networked Control Systems." Journal of Control Science and Engineering 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/383415.

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In networked control systems (NCSs), the presence of communication networks in control loops causes many imperfections such as random delays, packet losses, multipacket transmission, and packet disordering. In fact, random delays are usually the most important problems and challenges in NCSs because, to some extent, other problems are often caused by random delays. In order to compensate for random delays which may lead to performance degradation and instability of NCSs, it is necessary to establish the mathematical model of random delays before compensation. In this paper, four major delay models are surveyed including constant delay model, mutually independent stochastic delay model, Markov chain model, and hidden Markov model. In each delay model, some promising compensation methods of delays are also addressed.
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Li, Hongbo, Fuchun Sun, and Zengqi Sun. "Delay-Dependent Fuzzy Control of Networked Control Systems and Its Application." Mathematical Problems in Engineering 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/691370.

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This paper is concerned with the state feedback stabilization problem for a class of Takagi-Sugeno (T-S) fuzzy networked control systems (NCSs) with random time delays. A delay-dependent fuzzy networked controller is constructed, where the control parameters are ndependent on both sensor-to-controller delay and controller-to-actuator delay simultaneously. The resulting NCS is transformed into a discrete-time fuzzy switched system, and under this framework, the stability conditions of the closed-loop NCS are derived by defining a multiple delay-dependent Lyapunov function. Based on the derived stability conditions, the stabilizing fuzzy networked controller design method is also provided. Finally, simulation results are given to illustrate the effectiveness of the obtained results.
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Wang, Yilin, Hamid Reza Karimi, and Zhengrong Xiang. "Delay-Dependent Control for Networked Control Systems with Large Delays." Mathematical Problems in Engineering 2013 (2013): 1–10. http://dx.doi.org/10.1155/2013/643174.

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We consider the problems of robust stability and control for a class of networked control systems with long-time delays. Firstly, a nonlinear discrete time model with mode-dependent time delays is proposed by converting the uncertainty of time delay into the uncertainty of parameter matrices. We consider a probabilistic case where the system is switched among different subsystems, and the probability of each subsystem being active is defined as its occurrence probability. For a switched system with a known subsystem occurrence probabilities, we give a stochastic stability criterion in terms of linear matrix inequalities (LMIs). Then, we extend the results to a more practical case where the subsystem occurrence probabilities are uncertain. Finally, a simulation example is presented to show the efficacy of the proposed method.
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Bijami, Ehsan, and Malihe Maghfoori Farsangi. "A distributed control framework and delay-dependent stability analysis for large-scale networked control systems with non-ideal communication network." Transactions of the Institute of Measurement and Control 41, no. 3 (May 16, 2018): 768–79. http://dx.doi.org/10.1177/0142331218770493.

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Recently, the incorporation of telecommunication technology with control systems provides the usability of remote measurement signals for the designing of networked controllers for geographically distributed large-scale systems. However, communication network introduces new difficulties such as time delays and packet dropouts to the design of networked controllers. This paper presents a new Distributed Networked Control Scheme (DNCS) and its stability analysis for stabilizing of large-scale systems with interconnected subsystems featuring both random delays and random packet dropouts in their communication links. Firstly, a general model for large scale distributed networked system consisting of subsystems is used in which the state of each subsystem has its own time varying delay and there are also delays and packet dropouts in their interconnection communication links. To compensate the influence of subsystems on each other and enhance performance and stability margin of the closed-loop system, a suitable distributed control scheme is proposed. The stability criteria are provided based on Lyapunov-Krasovskii and Linear Matrix Inequality (LMI) techniques. For this, a new type of Lyapunov-Krasovskii functional and certain slack matrices are developed to conclude some LMI-based delay-dependent theorems for designing the control law, as well as the stabilizing of the DNCS. To evaluate the proposed method, three illustrative examples are provided. To indicate the efficiency of the suggested approach, a small-gain-based approach and an observer-based consensus method are applied for comparison. Simulation results show the effectiveness of the proposed approach to enhance the performance of large-scale networked systems among a non-ideal communication network.
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Wang, Yan Ping, Qi Xin Zhu, and Zhi Ping Li. "Optimal State Feedback Control in Operator Domain for Multi-Rate Networked Control Systems with Long Time Delay." Applied Mechanics and Materials 241-244 (December 2012): 1672–76. http://dx.doi.org/10.4028/www.scientific.net/amm.241-244.1672.

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By multi-rate networked control systems (NCS), we mean the sampling periods of the sensor, the controller and the actuator in networked control systems are not the same, that is to say there are more than one sampling rate in networked control systems. For the long time delay multi-rate NCS with event-driven controller and actuator, a stochastic discrete model is established under operator. The state feedback control laws for the multi-rate NCS in operator domain are designed by using a dynamic programming approach. The derived optimal LQG controller can be used as a delay-compensator for multi-rate NCS with long time delays. An example is given to verify the theory results of this paper.
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Naghavi, S. Vahid, A. A. Safavi, Mohammad Hassan Khooban, S. Pourdehi, and Valiollah Ghaffari. "A robust control strategy for a class of distributed network with transmission delays." COMPEL - The international journal for computation and mathematics in electrical and electronic engineering 35, no. 5 (September 5, 2016): 1786–813. http://dx.doi.org/10.1108/compel-08-2015-0287.

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Purpose The purpose of this paper is to concern the design of a robust model predictive controller for distributed networked systems with transmission delays. Design/methodology/approach The overall system is composed of a number of interconnected nonlinear subsystems with time-varying transmission delays. A distributed networked system with transmission delays is modeled as a nonlinear system with a time-varying delay. Time delays appear in distributed systems due to the information transmission in the communication network or transport of material between the sub-plants. In real applications, the states may not be available directly and it could be a challenge to address the control problem in interconnected systems using a centralized architecture because of the constraints on the computational capabilities and the communication bandwidth. The controller design is characterized as an optimization problem of a “worst-case” objective function over an infinite moving horizon. Findings The aim is to propose control synthesis approach that depends on nonlinearity and time varying delay characteristics. The MPC problem is represented in a time varying delayed state feedback structure. Then the synthesis sufficient condition is provided in the form of a linear matrix inequality (LMI) optimization and is solved online at each time instant. In the rest, an LMI-based decentralized observer-based robust model predictive control strategy is proposed. Originality/value The authors develop RMPC strategies for a class of distributed networked systems with transmission delays using LMI-Based technique. To evaluate the applicability of the developed approach, the control design of a networked chemical reactor plant with two sub-plants is studied. The simulation results show the effectiveness of the proposed method.
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Zhang, Jinhui, James Lam, and Yuanqing Xia. "Output feedback delay compensation control for networked control systems with random delays." Information Sciences 265 (May 2014): 154–66. http://dx.doi.org/10.1016/j.ins.2013.12.021.

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Liu, Zhong Min, Yi Wei Feng, and Dong Song Luo. "New Approaches for Network-Based Control Systems with Time-Varying Delays." Applied Mechanics and Materials 152-154 (January 2012): 1821–27. http://dx.doi.org/10.4028/www.scientific.net/amm.152-154.1821.

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In this paper, a delay distribution based stability analysis and synthesis approach for networked control systems (NCSs) of network communication delays is proposed. A bounded delay control model is established to describe the NCSs. Then, delay distribution-dependent NCSs stability criteria are derived in the form of linear matrix inequalities (LMIs). Also, the problem of HΚ performance analysis for NCSs with time varying delays components is also studied. The results are illustrated by numerical examples.
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Benítez-Pérez, H., A. Benítez-Pérez, J. Ortega-Arjona, and O. Esquivel-Flores. "Fuzzy Networked Control Systems Design Considering Scheduling Restrictions." Advances in Fuzzy Systems 2012 (2012): 1–9. http://dx.doi.org/10.1155/2012/927878.

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Nowadays network control systems present a common approximation when connectivity is the issue to be solved based on time delays coupling from external factors. However, this approach tends to be complex in terms of time delays. Therefore, it is necessary to study the behavior of the delays as well as the integration into differential equations of these bounded delays. The related time delays needs to be known a priory but from a dynamic real-time behavior. To do so, the use of priority dynamic Priority exchange scheduling is performed. The objective of this paper is to show a way to tackle multiple time delays that are bounded and the dynamic response from real-time scheduling approximation. The related control law is designed considering fuzzy logic approximation for nonlinear time delays coupling, where the main advantage is the integration of this behavior through extended state space representation keeping certain linear and bounded behavior and leading to a stable situation during events presentation by guaranteeing stability through Lyapunov.
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Pang, Zhong-Hua, Zhen-Yi Liu, Zhe Dong, and Tong Mu. "An Event-Triggered Networked Predictive Control Method Using an Allowable Time Delay." Journal of Advanced Computational Intelligence and Intelligent Informatics 26, no. 5 (September 20, 2022): 768–75. http://dx.doi.org/10.20965/jaciii.2022.p0768.

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An event-triggered network predictive control method, which uses allowable time delays, was developed for networked control systems with random network delays, packet disorders, and packet dropouts in the feedback and forward channels. In this method, random communication constraints are uniformly treated as a time delay at each time instant. Subsequently, based on a time-delay state feedback control law, the proposed method is used to actively compensate for the time delay that exceeds the allowable. In addition, the introduction of an event-triggered mechanism reduces communication loads and saves network resources. A necessary and sufficient stability condition for the closed-loop system is provided, which is independent of random time delays and is related to the allowable delay. Finally, the simulation results of the two systems verified the effectiveness of the proposed method.
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Dissertations / Theses on the topic "Networked Control with delays"

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Deng, Yang. "Delay estimation and predictor-based control of time-delay systems with a class of various delays." Thesis, Ecole centrale de Nantes, 2020. http://www.theses.fr/2020ECDN0014.

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Le retard est un phénomène largement présent dans les systèmes de commande(i.e.retard physique, latence de communication, temps de calcul) et peut en dégrader les performances ou même les déstabiliser. Si le retard est faible, la stabilité en boucle fermée peut être garantie par des lois de commande conventionnelles mais ces techniques ne sont plus efficaces si le retard est long. Cette thèse est dédiée à la commande des systèmes à retard avec retards longs inconnus ou avec des retards incertains. Pour compenser les retards longs, la commande prédictive est adoptée et des techniques d’estimation de retard sont développées. Selon les différents types de systèmes et de retards, trois objectifs sont visés dans la thèse. Le premier objectif considère la commande des systèmes linéaires avec retards constants inconnus pour lesquels un nouvel estimateur de retard est proposé pour estimer les retards inconnus. Le retard estimé est ensuite utilisé dans la commande prédictive pour stabiliser le système. Le deuxième objectif se concentre sur la stabilisation pratique des systèmes commandés à distance avec des retards inconnus variants. Dans ce cas, les retards sont estimés de manière pratique : une boucle de communication spécifique est utilisée pour estimer le retard en temps fini puis le système est stabilisé par une commande prédictive. Les tests expérimentaux réalisés sur un réseau WiFi ont montré que l’algorithme permet d’estimer de manière robuste les retards variants. Le dernier objectif est consacré à la commande des systèmes commandés en réseau avec retards variants. La commande prédictive discrète est utilisée pour compenser les retards longs et variants et les ré-ordonnancements de paquets dans le canal capteur-contrôleur sont également considérés. De plus, cette méthode est validée par l’asservissement visuel d’un pendule inverse commandé en réseau. Les performances obtenues sont meilleures que les méthodes de commande non-prédictives classiques
Time-delay is a widely-found phenomenon (i.e. physical dead time, communication latency, computation time) in real control systems, which can degrade the performances of the system or destabilize the system. If the time-delay is small, then the closed-loop stability can be guaranteed with conventional control techniques; but these techniques are no longer effective if the time-delay is long. This thesis is dedicated to the control of time-delaysystemswithunknown or uncertain long time-delays. In order to compensate long time-delays, the predictor-based control technique is adopted, and the delay estimation techniques are developed to assist the predictor-based controller. According to the different types of the systems and the time-delays, three objectives are analyzed in the thesis. The first objective considers the control of LTI systems with unknown constant delays, a new type of delay estimator is proposed to estimate the unknown time-delays, then it is plugged into apredictor-based controller to stabilize the system. The second objective focuses on the practical stabilization of remote control systems with unknown time-varying delays, at this time, the time-delays are estimated by a practical way: a specific communication loop is used to estimate the round-trip delay in finite time, and the system is stabilized with a predictor-based controller. This practical delay estimation algorithm is implemented on a real WiFi network, it can estimate the time-varying delays with good performances and robustness. The last objective is devoted to the control of networked control systems with time-varying delays, the discrete predictor-based control techniques are used to compensate long time-varyingdelays,and the packet reordering in the sensor-to-controller channel is also considered. Moreover, this control solution is validated on a networked visual servo inverted pendulum system, and the control performances are fairly better than the non-predictive control methods
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Demirel, Burak. "Architectures and Performance Analysis of Wireless Control Systems." Doctoral thesis, KTH, Reglerteknik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-165767.

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Modern industrial control systems use a multitude of spatially distributed sensors and actuators to continuously monitor and control physical processes. Information exchange among control system components is traditionally done through physical wires. The need to physically wire sensors and actuators limits flexibility, scalability and reliability, since the cabling cost is high, cable connectors are prone to wear and tear, and connector failures can be hard to isolate. By replacing some of the cables with wireless communication networks, costs and risks of connector failures can be decreased, resulting in a more cost-efficient and reliable system. Integrating wireless communication into industrial control systems is challenging, since wireless communication channels introduce imperfections such as stochastic delays and information losses. These imperfections deteriorate the closed-loop control performance, and may even cause instability. In this thesis, we aim at developing design frameworks that take these imperfections into account and improve the performance of closed-loop control systems. The thesis first considers the joint design of packet forwarding policies and controllers for wireless control loops where sensor measurements are sent to the controller over an unreliable and energy-constrained multi-hop wireless network. For a fixed sampling rate of the sensor, the co-design problem separates into two well-defined and independent subproblems: transmission scheduling for maximizing the deadline-constrained reliability and optimal control under packet losses. We develop optimal and implementable solutions for these subproblems and show that the optimally co-designed system can be obtained efficiently. The thesis continues by examining event-triggered control systems that can help to reduce the energy consumption of the network by transmitting data less frequently. To this end, we consider a stochastic system where the communication between the controller and the actuator is triggered by a threshold-based rule. The communication is performed across an unreliable link that stochastically erases transmitted packets. As a partial protection against dropped packets, the controller sends a sequence of control commands to the actuator in each packet. These commands are stored in a buffer and applied sequentially until the next control packet arrives. We derive analytical expressions that quantify the trade-off between the communication cost and the control performance for this class of event-triggered control systems. The thesis finally proposes a supervisory control structure for wireless control systems with time-varying delays. The supervisor has access to a crude indicator of the overall network state, and we assume that individual upper and lower bounds on network time-delays can be associated to each value of the indicator. Based on this information, the supervisor triggers the most appropriate controller from a multi-controller unit. The performance of such a supervisory controller allows for improving the performance over a single robust controller. As the granularity of the network state measurements increases, the performance of the supervisory controller improves at the expense of increased computational complexity.

QC 20150504

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Seuret, Alexandre, Dimos V. Dimarogonas, and Karl Henrik Johansson. "Consensus under communication delays." KTH, Reglerteknik, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-28520.

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This paper deals with the consensus problem under communication network inducing delays. It is well-known that introducing a delay leads in general to a reduction of the performance or to instability due to the fact that timedelay systems are infinite dimensional. For instance, the set of initial conditions of a time-delay system is not a vector but a function taken in an interval. Therefore, investigating the effect of time-delays in the consensus problem is an important issue. In the present paper, we assume that each agent receives instantaneously its own state information but receives the state information from its neighbors after a constant delay. Two stability criteria are provided based on the frequency approach and on Lyapunov-Krasovskii techniques given in terms of LMI. An analytic expression of the consensus equilibrium which depends on the delay and on the initial conditions taken in an interval is derived. The efficiency of the method is tested for different network communication schemes.

QC 20110120

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Sargolzaei, Arman. "Time-Delay Switch Attack on Networked Control Systems, Effects and Countermeasures." FIU Digital Commons, 2015. http://digitalcommons.fiu.edu/etd/2175.

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In recent years, the security of networked control systems (NCSs) has been an important challenge for many researchers. Although the security schemes for networked control systems have advanced in the past several years, there have been many acknowledged cyber attacks. As a result, this dissertation proposes the use of a novel time-delay switch (TDS) attack by introducing time delays into the dynamics of NCSs. Such an attack has devastating effects on NCSs if prevention techniques and countermeasures are not considered in the design of these systems. To overcome the stability issue caused by TDS attacks, this dissertation proposes a new detector to track TDS attacks in real time. This method relies on an estimator that will estimate and track time delays introduced by a hacker. Once a detector obtains the maximum tolerable time delay of a plant’s optimal controller (for which the plant remains secure and stable), it issues an alarm signal and directs the system to its alarm state. In the alarm state, the plant operates under the control of an emergency controller that can be local or networked to the plant and remains in this stable mode until the networked control system state is restored. In another effort, this dissertation evaluates different control methods to find out which one is more stable when under a TDS attack than others. Also, a novel, simple and effective controller is proposed to thwart TDS attacks on the sensing loop (SL). The modified controller controls the system under a TDS attack. Also, the time-delay estimator will track time delays introduced by a hacker using a modified model reference-based control with an indirect supervisor and a modified least mean square (LMS) minimization technique. Furthermore, here, the demonstration proves that the cryptographic solutions are ineffective in the recovery from TDS attacks. A cryptography-free TDS recovery (CF-TDSR) communication protocol enhancement is introduced to leverage the adaptive channel redundancy techniques, along with a novel state estimator to detect and assist in the recovery of the destabilizing effects of TDS attacks. The conclusion shows how the CF-TDSR ensures the control stability of linear time invariant systems.
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Nygren, Johannes. "Input-Output Stability Analysis of Networked Control Systems." Doctoral thesis, Uppsala universitet, Reglerteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-272344.

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The main focus of the thesis is to derive stability criteria for networked control system (NCS) models featuring imperfections such as time-varying and constant delays, quantization, packet dropouts, and non-uniform sampling intervals. The main method of proof is based on matrix algebra, as opposed to methods using Lyapunov functions or integral quadratic constraints (IQC). This work puts a particular focus on handling systems with a single integrator. This framework is elaborated in different specific directions as motivated by practical realizations of NCSs, as well as through numerical examples. A novel proof of the discrete time multivariate circle criterion and the Tsypkin criterion for systems including a single integrator is presented, as well as a stability criterion for linear systems with a single integrator subject to variable sampling periods and sector-bounded nonlinear feedback. Four stability criteria for different classes of systems subject to packet loss and time-varying delay are given. Stability criteria for a closed loop system switching between a set of linear time-invariant systems (LTIs) are proved. This result is applied to a single-link NCS with feedback subject to packet loss. Finally, necessary and sufficient conditions for delay-independent stability of an LTI system subject to nonlinear feedback are derived.
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Mkondweni, Ncedo Sandiso. "Design and implementation of linear robust networked control systems." Thesis, Cape Peninsula University of Technology, 2013. http://hdl.handle.net/20.500.11838/1195.

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Thesis submitted in fulfilment of the requirements for the degree Doctor of Technology: Electrical Engineering in the Faculty of Engineering at the Cape Peninsula University of Technology, 2013
Networked Control Systems is a control system where the plant and the controller exchange information via a shared communication network and the network is considered as part of the closed loop control system. Unfortunately the network introduces network induced random varying time delays and data packet loss amongst the communication network imperfections. The network delays are considered to be between the controller and the actuator and between the sensor and the controller. These network imperfections degrade the performance of the closed loop control system and result in closed loop system instability. The complexity of measuring the communication network imperfection in networked control systems makes it difficult for the control engineers to develop methods for design of controllers that can incorporate and compensate these imperfections in order to improve the performance of the networked control systems. In this thesis a co-simulation toolset called LabNS2 is developed to address the first problem of measuring the communication network imperfections by providing an ideal environment that can be used to investigate the influence of network time delays or packet loss. The software environment of the toolset is based on LabVIEWTM and Network Simulator Version 2 (NS2). A new robust predictive optimal controller design method is developed to address the problem of the destabilising effect of the network induced time delay between the controller and the actuator. The design approach is based on time shifting of the optimisation horizon and a state predictor. The design of the controller is based on a model of the plant with delay in the control vector equal to the delay between the controller and the actuator or to the sum of the delays between the controller and the actuator and between the sensor and the controller. The time shifting approach allows the design of the controller to be performed for a model without time delay. Then the control action is based on the future values of the state space vector estimates. The state predictor is developed to predict these future values of the state using the present and past values of the state estimates and control actions. This technique is made possible by the use of the plant model Transition Matrix. A Discrete Kalman Filter is modified to address the problem of the destabilising effect of the network induced time delay between the sensor and the controller. An additional state estimation vector is added to the filter estimate at every current moment of time. iv The developed methods are implemented for networked control of a dish antenna driven by two stepper motors. The outcomes of the thesis can be used for the education and fundamental research purposes, but the developed control strategies have significant sense towards the Square Kilometer Array projects and satellite systems industry.
National Research Foundation
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Wang, Bo. "Analysis and implementation of time-delay systems and networked control systems." Thesis, University of South Wales, 2008. https://pure.southwales.ac.uk/en/studentthesis/analysis-and-implementation-of-timedelay-systems-and-networked-control-systems(f54e4378-db9b-443d-b505-88b4af5bb72a).html.

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Systems with delays frequently appear in engineering. The presence of delays makes system analysis and control design much more complicated. Networked control systems where the delays are often random are typical cases of such systems. For one particular category of time-delays systems, integral processes with dead time (IPDTs), the control limits that a PI controller can achieve are discussed in this thesis. These limits include the region of the control parameters to guarantee the system stability, the control parameters to achieve the given gain and/or phase margins (GPMs), the constraint on achievable gain and phase margins, the performance of set point tracking and disturbance rejection. Three types of PI controllers, namely typical PI controller, single tuning-parameter PI controller and PI controller under two-degree-of-freedom (2-DOF) structure, are studied. In control schemes of the modified Smith predictor (MSP) where the controller usually includes a distributed delay, the system implementation is not trivial because of the inherent hidden unstable poles. This thesis provides an estimation of the minimal number of implementation steps for the distributed delay in linear control laws. This is obtained by solving an inequality with respect to the number of implementation steps. A coarse estimation is given as the initial value to solve the inequality using bisection algorithms. A minimization process as well as some other techniques are also introduced to further improve the estimation. In networked control systems, the network-transmission delay and data dropout are combinedly represented by a network-induced delay. By designing a data pre­ processing mechanism, the network-induced delay can be assigned. Such delay as­ signment is applied to networked predictive control schemes, which alleviates systemstability limits on the network-induced delay. Two stability criteria are given for the closed-loop system with random network-induced delay, and a resulting implementation algorithm is also provided. The control and implementation of a magnetic levitation system over the network is studied in this thesis. Firstly, a test-rig which is suitable to implement control over a network is set up. Feedback linearization and direct local linearization methods for the nonlinear MagLev system are presented. In order to improve the control performance, a networked predictive method is employed, where the system model is identified in real-time. Local control and networked control are implemented on this test-rig, including networked predictive control. Model predictive control demonstrates a clear performance advantage over the networked control strategies which does not incorporate compensation for the network-induced delay. In order to quickly implement networked control systems (NCSs) by simulation or practical application, a MATLAB/Simulink based NCS toolbox is developed. This toolbox incorporates basic parts of a general NCS, that is, network simula­tion, network interface, plant interface and typical control schemes. With the NCS toolbox, users can focus on the study of new control schemes.
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Shi, Xiaohan. "A reliable real-time transport protocol for networked control systems over wireless networks." Thesis, Queensland University of Technology, 2012. https://eprints.qut.edu.au/60160/1/Xiaohan_Shi_Thesis.pdf.

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Deploying wireless networks in networked control systems (NCSs) has become more and more popular during the last few years. As a typical type of real-time control systems, an NCS is sensitive to long and nondeterministic time delay and packet losses. However, the nature of the wireless channel has the potential to degrade the performance of NCS networks in many aspects, particularly in time delay and packet losses. Transport layer protocols could play an important role in providing both reliable and fast transmission service to fulfill NCS’s real-time transmission requirements. Unfortunately, none of the existing transport protocols, including the Transport Control Protocol (TCP) and the User Datagram Protocol (UDP), was designed for real-time control applications. Moreover, periodic data and sporadic data are two types of real-time data traffic with different priorities in an NCS. Due to the lack of support for prioritized transmission service, the real-time performance for periodic and sporadic data in an NCS network is often degraded significantly, particularly under congested network conditions. To address these problems, a new transport layer protocol called Reliable Real-Time Transport Protocol (RRTTP) is proposed in this thesis. As a UDP-based protocol, RRTTP inherits UDP’s simplicity and fast transmission features. To improve the reliability, a retransmission and an acknowledgement mechanism are designed in RRTTP to compensate for packet losses. They are able to avoid unnecessary retransmission of the out-of-date packets in NCSs, and collisions are unlikely to happen, and small transmission delay can be achieved. Moreover, a prioritized transmission mechanism is also designed in RRTTP to improve the real-time performance of NCS networks under congested traffic conditions. Furthermore, the proposed RRTTP is implemented in the Network Simulator 2 for comprehensive simulations. The simulation results demonstrate that RRTTP outperforms TCP and UDP in terms of real-time transmissions in an NCS over wireless networks.
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Gui, Li. "A transport protocol for real-time applications in wireless networked control systems." Thesis, Queensland University of Technology, 2010. https://eprints.qut.edu.au/45460/1/Li_Gui_Thesis.pdf.

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A Networked Control System (NCS) is a feedback-driven control system wherein the control loops are closed through a real-time network. Control and feedback signals in an NCS are exchanged among the system’s components in the form of information packets via the network. Nowadays, wireless technologies such as IEEE802.11 are being introduced to modern NCSs as they offer better scalability, larger bandwidth and lower costs. However, this type of network is not designed for NCSs because it introduces a large amount of dropped data, and unpredictable and long transmission latencies due to the characteristics of wireless channels, which are not acceptable for real-time control systems. Real-time control is a class of time-critical application which requires lossless data transmission, small and deterministic delays and jitter. For a real-time control system, network-introduced problems may degrade the system’s performance significantly or even cause system instability. It is therefore important to develop solutions to satisfy real-time requirements in terms of delays, jitter and data losses, and guarantee high levels of performance for time-critical communications in Wireless Networked Control Systems (WNCSs). To improve or even guarantee real-time performance in wireless control systems, this thesis presents several network layout strategies and a new transport layer protocol. Firstly, real-time performances in regard to data transmission delays and reliability of IEEE 802.11b-based UDP/IP NCSs are evaluated through simulations. After analysis of the simulation results, some network layout strategies are presented to achieve relatively small and deterministic network-introduced latencies and reduce data loss rates. These are effective in providing better network performance without performance degradation of other services. After the investigation into the layout strategies, the thesis presents a new transport protocol which is more effcient than UDP and TCP for guaranteeing reliable and time-critical communications in WNCSs. From the networking perspective, introducing appropriate communication schemes, modifying existing network protocols and devising new protocols, have been the most effective and popular ways to improve or even guarantee real-time performance to a certain extent. Most previously proposed schemes and protocols were designed for real-time multimedia communication and they are not suitable for real-time control systems. Therefore, devising a new network protocol that is able to satisfy real-time requirements in WNCSs is the main objective of this research project. The Conditional Retransmission Enabled Transport Protocol (CRETP) is a new network protocol presented in this thesis. Retransmitting unacknowledged data packets is effective in compensating for data losses. However, every data packet in realtime control systems has a deadline and data is assumed invalid or even harmful when its deadline expires. CRETP performs data retransmission only in the case that data is still valid, which guarantees data timeliness and saves memory and network resources. A trade-off between delivery reliability, transmission latency and network resources can be achieved by the conditional retransmission mechanism. Evaluation of protocol performance was conducted through extensive simulations. Comparative studies between CRETP, UDP and TCP were also performed. These results showed that CRETP significantly: 1). improved reliability of communication, 2). guaranteed validity of received data, 3). reduced transmission latency to an acceptable value, and 4). made delays relatively deterministic and predictable. Furthermore, CRETP achieved the best overall performance in comparative studies which makes it the most suitable transport protocol among the three for real-time communications in a WNCS.
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Moraes, Vitor Mateus. "Delay-dependent output feedback compensators for a class of networked control systems." reponame:Repositório Institucional da UFSC, 2014. https://repositorio.ufsc.br/xmlui/handle/123456789/128874.

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Tese (doutorado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Engenharia de Automação e Sistemas, Florianópolis, 2014
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Sistemas de controle via rede (NCS, do inglês Networked Control Systems) são uma classe especial de sistemas amostrados digitalmente, nos quais os dispositivos do sistema de controle se comunicam através de uma rede de comunicação (como mostrado na Fig. I). Significantes avanços tecnológicos tem levado a um maior interesse tanto na utilização de NCS em ambiente industrial (MOYNE; TILBURY, 2007), quanto em pesquisas relacionadas ao assunto (HESPANHA; NAGHSHTABRIZI; XU,2007; HEEMELS; WOUW, 2010; ZHANG; GAO; KAYNAK, 2013). Algumas das vantagens oferecidas por tais sistemas, com relação a sistemas de controle tradicionais, compreendem menor custo de implementação, flexibilidade e facilidade de manutenção. Apesar disso, inerentemente alguns efeitos indesejados também podem ocorrer, tais como atrasos na comunicação e intervalos de amostragem variantes, ocasionando degradação no desempenho do sistema em malha fechada. Devido a esses efeitos, a análise de estabilidade e também o projeto de controladores para NCS tornam-se mais desafiadores (TANG; YU, 2007). De modo geral, os estudos sobre NCS podem ser divididos em duas grandes áreas: controle da rede e controle via rede (GUPTA; CHOW, 2010). A primeira está mais interessada em proporcionar uma melhor qualidade no serviço de transmissão de dados realizado pela rede de comunicação, enquanto a segunda objetiva uma melhor qualidade do desempenho dos sistemas de controle sob determinadas condições induzidas pelos efeitos da utilização da rede. Embora tipicamente tratadas de forma separada, recentemente alguns esforços têm sido empreendidos de modo a integrar algumas características de ambas as áreas em fase de projeto, as chamadas estratégias de co-design (TORNGREN et al., 2006). Uma abordagem integrada é necessária de modo a se obter uma maior compreensão do funcionamento de um NCS, podendo assim obter um melhor desempenho geral do sistema. Neste contexto, especialmente levando em consideração que o uso rede de comunicação é limitado, tal recurso deve ser corretamente distribuído entre os sistemas de controle de modo a garantir um funcionamento adequado. Além disso, requisitos de desempenho individuais de cada planta também devem ser cumpridos, mesmo sujeitos a tais restrições de limites de recursos.

Abstract: Networked control system (NCS) is a special class of sampled-data system where control systems devices are interconnected through a communication network. Despite the advantages, such as lower cost, flexibility and easy of maintenance compared to a more traditional implementation, some undesired effects may be induced by the use of a shared medium in the feedback loop, for instance, time-varying sampling intervals and delays. Due to the multidisciplinary nature of an NCS, the analysis and design of such systems also demand a more comprehensive approach. Thus, the main objective of this thesis is to propose some strategies for the synthesis of dynamic output feedback compensators, assuming an industrial network control system environment with temporal behavior features and requirements. Throughout this document, the NCS is modeled considering unknown time-varying delays, which leads to an uncertain system representation, later overapproximated by a convex polytope with additional norm-bounded uncertainty. Based on parameter dependent Lyapunov functions, closed-loop stability conditions are provided, which can be verified in terms of feasibility of a set of linear matrix inequalities (LMIs). The control designs are then promptly derived from the stability conditions, leading to delay-dependent compensators. Furthermore, an integrated control design and resource management strategy is proposed, taking into account the controller design while also addressing the shared nature of the communication network. This co-design strategy assumes that a supervisor task has the knowledge of all devices that access the network, as well as their allocated bandwidths. Numerical examples and simulations are provided to illustrate the effectiveness of the proposed design methodologies.
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Books on the topic "Networked Control with delays"

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Seuret, Alexandre, Laurentiu Hetel, Jamal Daafouz, and Karl H. Johansson, eds. Delays and Networked Control Systems. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5.

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Huang, Dan, and Sing Kiong Nguang. Robust Control for Uncertain Networked Control Systems with Random Delays. London: Springer London, 2009. http://dx.doi.org/10.1007/978-1-84882-678-6.

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Kiong, Nguang Sing, and SpringerLink (Online service), eds. Robust control for uncertain networked control systems with random delays. Berlin: Springer Verlag, 2009.

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Mayer, Christopher J. Network effects, congestion externalities, and air traffic delays: Or why all delays are not evil. Cambridge, MA: National Bureau of Economic Research, 2002.

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So, Jimmy Kin Cheong. Delay modeling and controller design for networked control systems. Ottawa: National Library of Canada, 2003.

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Wang, Zhanshan, Zhenwei Liu, and Chengde Zheng. Qualitative Analysis and Control of Complex Neural Networks with Delays. Berlin, Heidelberg: Springer Berlin Heidelberg, 2016. http://dx.doi.org/10.1007/978-3-662-47484-6.

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Maurice, Heemels, and Johansson Mikael, eds. Networked control systems. Berlin: Springer, 2010.

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Bemporad, Alberto, Maurice Heemels, and Mikael Johansson, eds. Networked Control Systems. London: Springer London, 2010. http://dx.doi.org/10.1007/978-0-85729-033-5.

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Wang, Fei-Yue, and Derong Liu, eds. Networked Control Systems. London: Springer London, 2008. http://dx.doi.org/10.1007/978-1-84800-215-9.

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Li, Zhijun, Yuanqing Xia, and Chun-Yi Su. Intelligent Networked Teleoperation Control. Berlin, Heidelberg: Springer Berlin Heidelberg, 2015. http://dx.doi.org/10.1007/978-3-662-46898-2.

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Book chapters on the topic "Networked Control with delays"

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Abdelrahim, Mahmoud, Romain Postoyan, Jamal Daafouz, and Dragan Nešić. "Output Feedback Event-Triggered Control." In Delays and Networked Control Systems, 113–31. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_7.

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Irofti, Dina-Alina, Islam Boussaada, and Silviu-Iulian Niculescu. "On the Codimension of the Singularity at the Origin for Networked Delay Systems." In Delays and Networked Control Systems, 3–15. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_1.

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Li, Xu-Guang, Arben Çela, and Silviu-Iulian Niculescu. "Stabilization of Networked Control Systems with Hyper-Sampling Periods." In Delays and Networked Control Systems, 167–80. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_10.

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Rubio, Alicia Arce, Alexandre Seuret, Yassine Ariba, and Alessio Mannisi. "Optimal Control Strategies for Load Carrying Drones." In Delays and Networked Control Systems, 183–97. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_11.

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Millán, Pablo, Luis Orihuela, and Isabel Jurado. "Delays in Distributed Estimation and Control over Communication Networks." In Delays and Networked Control Systems, 199–216. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_12.

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Bragagnolo, Marcos Cesar, Irinel-Constantin Morărescu, Jamal Daafouz, and Pierre Riedinger. "Design and Analysis of Reset Strategy for Consensus in Networks with Cluster Pattern." In Delays and Networked Control Systems, 217–31. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_13.

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Deshpande, Paresh, Prathyush P. Menon, and Christopher Edwards. "Synthesis of Distributed Control Laws for Multi-agent Systems Using Delayed Relative Information with LQR Performance." In Delays and Networked Control Systems, 233–52. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_14.

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Morărescu, Irinel-Constantin, and Mirko Fiacchini. "Topology Preservation for Multi-agent Networks: Design and Implementation." In Delays and Networked Control Systems, 253–69. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_15.

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Di Loreto, Michael, Sérine Damak, and Sabine Mondié. "Stability and Stabilization for Continuous-Time Difference Equations with Distributed Delay." In Delays and Networked Control Systems, 17–36. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_2.

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Pontes Duff, Igor, Pierre Vuillemin, Charles Poussot-Vassal, Corentin Briat, and Cédric Seren. "Model Reduction for Norm Approximation: An Application to Large-Scale Time-Delay Systems." In Delays and Networked Control Systems, 37–55. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32372-5_3.

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Conference papers on the topic "Networked Control with delays"

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Ji, Kun, and Won-Jong Kim. "Robust Control for Networked Control Systems With Admissible Parameter Uncertainties." In ASME 2005 International Mechanical Engineering Congress and Exposition. ASMEDC, 2005. http://dx.doi.org/10.1115/imece2005-81551.

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In this paper, robust H∞ control problems for networked control systems (NCSs) with network-induced time delays and subject to norm-bounded parameter uncertainties are presented and solved. Based on a new discrete-time model, two approaches of robust controller design are proposed—design of a memoryless state-feedback controller and design of a dynamic state-feedback controller. The proposed memoryless state-feedback controller design method is given in terms of linear matrix inequalities (LMIs), and the delay bound can be computed by using the standard LMI techniques. A numerical example is given to illustrate the feasibility and effectiveness of this methodology. The proposed dynamic state-feedback controller design method is based on a discrete-time Artstein transform. With the sufficient conditions for robust stability and H∞ control developed in this paper, we also derive the upper bound of network-induced time delays and the lower bound of the network date-transmission rate that can be used as a guideline in choosing proper networks as communication media for NCSs. We constructed an NCS test bed to experimentally verify the feasibility and effectiveness of proposed design methodologies.
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Mirfakhraie, Tina, Yuping He, and Ramiro Liscano. "Wireless Networked Control for Active Trailer Steering Systems of Articulated Vehicles." In ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-36440.

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Compared with conventional wired control systems, Wireless Networked Control (WNC) systems bear a number of advantages, including flexibility, low-cost and easy maintenance. In all networked control systems, a major challenge is network delay, which degrades the overall system performance, but this is more significant in wireless communications. This paper investigates the use of a LQR-gain scheduler to provide a proper control gain vector to stabilize an articulated vehicle with an Articulated Trailer Steering (ATS) system affected by delays in the sensor data that caused by wireless communications in the feedback control loop. Through comparing with a baseline vehicle that has no sensor feedback delay, it is demonstrated that the LQR gain scheduler controller can tolerate up to 0.9 s delays before the articulated vehicle becomes unstable.
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Yu, Bo, and Yang Shi. "State Feedback Stabilization of Networked Control Systems With Random Time Delays and Packet Dropout." In ASME 2008 Dynamic Systems and Control Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/dscc2008-2191.

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This article considers the state feedback controller design in the networked control systems (NCSs). The network-induced random time delays and packet dropout existing in sensor-to-controller (S-C) and controller-to-actuator (C-A) links are modeled by two Markov chains. The controller incorporates not only the current S-C delay but also the most recent C-A delay to exploit all available information. Then, the system is converted to be a special jump linear system. The sufficient and necessary conditions for stochastic stability are derived and the state feedback stabilization problem is formulated to be an optimization problem solved by the iterative linear matrix inequality (LMI) approach. A design example is given to illustrate the effectiveness of the proposed method.
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Lian, Feng-Li, James Moyne, and Dawn Tilbury. "Time Delay Modeling and Sample Time Selection for Networked Control Systems." In ASME 2001 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/imece2001/dsc-24539.

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Abstract This paper discusses the impact of network architecture on control performance in a class of distributed control systems called Networked Control Systems (NCS), and provides design considerations related to control quality of performance (QoP) as well as network quality of service (QoS). The integrated network-control system changes the characteristics of time delays between application devices. This study first identifies several key components of the time delay through an analysis of network protocols and control dynamics. The analysis of network and control parameters is used to determine an acceptable working range of sampling periods in an NCS. A network-control simulator and an experimental networked machine tool have been developed to help validate and demonstrate the performance analysis results, and identify the special performance characteristics in an NCS. These performance characteristics are useful guidelines for choosing the network and control parameters when designing an NCS.
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Lu, Bei. "Probabilistic Design of Networked Control Systems With Uncertain Time Delay." In ASME 2007 International Mechanical Engineering Congress and Exposition. ASMEDC, 2007. http://dx.doi.org/10.1115/imece2007-42829.

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Networked control systems (NCSs), where control loops are closed through a real-time network, have been adopted in many application areas. Examples include manufacturing plants, automobiles, aircraft, and spacecraft. However, the insertion of a real-time network introduces time delays due to time-sharing of the communication media. The network-induced delay can degrade the performance of an NCS, and can even destabilize the system. Due to its random nature, in this paper, we apply the promising probability robust control approach to handle the network-induced delay, which is modeled as an uncertainty governed by a probability distribution function. With considering both stability and performance of NCSs in the stage of control design, we propose the synthesis condition of ℋ∞ state-feedback control of NCSs. It is formulated as a set of linear matrix inequalities with uncertain parameter present in the the state-space data. The ellipsoid randomized algorithm is applied to solve the matrix variables and design a probabilistic robust controller. A numerical example is given to demonstrate the probabilistic design method for NCSs.
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Zhang, Jie, Yuming Bo, Ming Lv, and Dejin Tao. "Fault detection for networked control systems with control delays." In 2010 International Conference on Intelligent Control and Information Processing (ICICIP). IEEE, 2010. http://dx.doi.org/10.1109/icicip.2010.5565217.

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Lian, F. L., J. R. Moyne, and D. M. Tilbury. "Performance Evaluation of Control Networks for Manufacturing Systems." In ASME 1999 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 1999. http://dx.doi.org/10.1115/imece1999-0116.

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Abstract There are many different networks which have been promoted for use in manufacturing control systems. In this paper, we discuss the features of three candidates: Ethernet (CSMA/CD), ControlNet (Token Bus) and DeviceNet (CAN Bus). We consider how each of these control networks could be used as a communication backbone for a networked control system. A detailed discussion of the medium access control protocol for each network is provided. The medium access control protocol is responsible for providing both the satisfaction of the time-critical/real-time response requirement over the network and the quality and reliability of the communication between devices on the network. For each protocol, we derive the key parameters of the corresponding network when used in a control situation, including bandwidth, magnitude of the expected time delay, and variation in time delays. Simulation results are presented for several different scenarios, and the advantages and disadvantages of each network are summarized.
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Belapurkar, Rohit K., and Rama K. Yedavalli. "LQR Control Design of Discrete-Time Networked Cascade Control Systems With Time Delay." In ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASMEDC, 2011. http://dx.doi.org/10.1115/dscc2011-6129.

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Series cascade control systems, in which, the output of one process drives a second process are studied extensively in literature. Traditional control design methods based on transfer function approach are used for design of cascade control systems with disturbances in inner loop and time delays in outer loop process. Design of current turboshaft engine control systems are based on cascade control system framework. Next generation aircraft engine control systems are based on distributed architecture, in which, communication constraints like time delays can degrade control system performance. Stability of networked cascade control systems for turboshaft engines in a state space framework is analyzed in the presence of time delays. Two architectures of networked cascade control systems are presented. Stability conditions for discrete-time cascade control systems are presented for each of the architecture with time delays which are more than the sampling time.
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Lu, Lei, Jinxing Lin, and Kanglei Ren. "H∞ output tracking control for networked control systems with network-induced delays." In 2018 Chinese Control And Decision Conference (CCDC). IEEE, 2018. http://dx.doi.org/10.1109/ccdc.2018.8407349.

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Shi, Meifang. "Supervised networked control systems with multiple time delays." In 2011 23rd Chinese Control and Decision Conference (CCDC). IEEE, 2011. http://dx.doi.org/10.1109/ccdc.2011.5968602.

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Reports on the topic "Networked Control with delays"

1

Lemmon, Michael. Supervisory Control of Networked Control Systems. Fort Belvoir, VA: Defense Technical Information Center, January 2006. http://dx.doi.org/10.21236/ada442404.

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Barber, D. VCS: A networked version control system. Office of Scientific and Technical Information (OSTI), February 1990. http://dx.doi.org/10.2172/6930725.

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Baliga, Girish, Scott R. Graham, Lui Sha, and P. R. Kumar. Service Continuity in Networked Control Using Etherware. Fort Belvoir, VA: Defense Technical Information Center, January 2004. http://dx.doi.org/10.21236/ada424768.

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Bitmead, Robert R. Control and Information Architecture for Coordinated Networked Systems. Fort Belvoir, VA: Defense Technical Information Center, August 2009. http://dx.doi.org/10.21236/ada512939.

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Wood, Scott D. Cooperative Interface Agents for Networked Command, Control, and Communications (CIANC3). Fort Belvoir, VA: Defense Technical Information Center, April 2003. http://dx.doi.org/10.21236/ada414232.

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Graham, Scott R. Fault Tolerance in Networked Control Systems Through Real-Time Restarts. Fort Belvoir, VA: Defense Technical Information Center, July 2004. http://dx.doi.org/10.21236/ada425652.

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Dullerud, Geir E., Francesco Bullo, Eric Feron, Emilio Frazzoli, P. R. Kumar, Sanjay Lall, Daniel Liberzon, Nancy A. Lynch, John C. Mitchell, and Sanjoy K. Mitter. Cooperative Networked Control of Dynamical Peer-to-Peer Vehicle Systems. Fort Belvoir, VA: Defense Technical Information Center, December 2007. http://dx.doi.org/10.21236/ada475557.

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Graham, Scott R., Sumant Kowshik, Girish Baliga, Lui Sha, and Marco Caccamo. Co-Design of Real-Time Communication and Control in a Wireless Networked Control System. Fort Belvoir, VA: Defense Technical Information Center, July 2004. http://dx.doi.org/10.21236/ada425008.

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Lewis, Frank L., Greg Hudas, Chee K. Pang, Matthew B. Middleton, and Christopher Mcmurrough. Discrete Event Command & Control for Networked Teams with Multiple Missions. Fort Belvoir, VA: Defense Technical Information Center, March 2009. http://dx.doi.org/10.21236/ada496792.

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Olmo, Frank J. Command and Control in Joint Vision 2010: Flexible, Adaptive and Networked. Fort Belvoir, VA: Defense Technical Information Center, February 1999. http://dx.doi.org/10.21236/ada363260.

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