Discrete-time sliding mode controller subject to real-time fractional delays and packet losses for networked control system

The communication delay and packet loss are two major concerns in Networked Control System as it deteriorates the performance of the system. In this paper, a novel approach for designing a discrete-time sliding mode controller using Thiran’s delay approximation is presented considering the real time...

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Bibliographic Details
Published inInternational journal of control, automation, and systems Vol. 15; no. 6; pp. 2690 - 2703
Main Authors Shah, Dipesh, Mehta, Axay
Format Journal Article
LanguageEnglish
Published Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.12.2017
Springer Nature B.V
제어·로봇·시스템학회
Subjects
Approximation
Communications systems
Control
Control stability
Control systems
Controllers
Delay
Electrical equipment
Engineering
Ethernet
Liapunov functions
Mathematical analysis
Mechatronics
Packet switched networks
Real time
Regular Papers
Robotics
Sliding mode control
Surface stability
제어계측공학
networked control
CAN
network delay
switched ethernet
true time simulator
discrete-time Sliding Mode Control
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Summary:The communication delay and packet loss are two major concerns in Networked Control System as it deteriorates the performance of the system. In this paper, a novel approach for designing a discrete-time sliding mode controller using Thiran’s delay approximation is presented considering the real time networked medium and packet loss situation. Thiran’s delay approximation technique is used to compensate the controller to actuator fractional delay as well as sensor to controller fractional delay in the sliding surface. Further, the stability condition for the closed loop system with proposed controller is derived using Lyapunov function. The efficacy of the proposed strategy is endowed by simulation results that are conceded in the presence of CAN and Switched Ethernet communication medium.
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http://link.springer.com/article/10.1007/s12555-016-0761-8
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-016-0761-8