Tracking control for networked control systems

A solution to the approximate tracking problem for networked control systems (NCSs) with uncertain, time-varying sampling intervals and network delays is presented. The uncertain, time-varying sampling and delays cause inexact feedforward, which induces a perturbation on the tracking error dynamics....

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Bibliographic Details
Published in2007 46th IEEE Conference on Decision and Control pp. 4441 - 4446
Main Authors van de Wouw, N., Naghshtabrizi, P., Cloosterman, M., Hespanha, J.P.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2007
Subjects
Control systems
Delay
Differential equations
Error correction
Networked control systems
Sampling methods
Stability
Steady-state
Sufficient conditions
Time varying systems
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Summary:A solution to the approximate tracking problem for networked control systems (NCSs) with uncertain, time-varying sampling intervals and network delays is presented. The uncertain, time-varying sampling and delays cause inexact feedforward, which induces a perturbation on the tracking error dynamics. Two alternative modeling approaches are used: a discrete-time model and a model in terms of delay impulsive differential equations. Sufficient conditions for the input-to-state stability (ISS) of the tracking error dynamics with respect to this perturbation are given. These ISS results provide bounds on the steady-state tracking error as a function of the plant properties, the controller parameters, and the network properties. The results are illustrated on a mechanical motion control example.
ISBN:9781424414970
1424414970
ISSN:0191-2216
DOI:10.1109/CDC.2007.4434905