A Moving Horizon Approach to Networked Control System Design

Goodwin, Graham C.; Haimovich, Hernan; Quevedo, Daniel E.; Welsh, James S.

doi:10.1109/tac.2004.834132

Cited by 241 publications

(129 citation statements)

References 39 publications

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“…Hence, it is random and possibly difficult to accurately predict. There are also other works on MPC design over different network buses such as Ethernet [12,14], but CAN is very different due to the timing characteristic (deterministic arbitration in CAN vs. random backoff mechanism in Ethernet), and the approach is not transferable.…”

Section: Review Of Literaturementioning

confidence: 99%

Online message delay prediction for model predictive control over controller area network

Rao

Zeng

2017

2017 IEEE/ACM International Conference on Computer-Aided Design (ICCAD)

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Today's Cyber-Physical Systems (CPS) are typically distributed over several computing nodes communicating by way of shared buses such as Controller Area Network (CAN). Their control performance gets degraded due to variable delays (jitters) incurred by messages on the shared CAN bus due to contention and network overhead. This work presents a novel online delay prediction approach that predicts the message delay at runtime based on real-time traffic information on CAN. It leverages the proposed method to improve control quality, by compensating for the message delay using the Model Predictive Control (MPC) algorithm in designing the controller. By simulating an automotive Cruise Control system and a DC Motor plant in a CAN environment, it goes on to demonstrate that the delay prediction is accurate, and that the MPC design which takes the message delay into consideration, performs considerably better. It also implements the proposed method on an 8-bit 16MHz work goes on to demonstrate that the delay prediction is accurate, and that the MPC design which takes the message delay into consideration, performs considerably better. It also implements the proposed approach on a low end microcontroller (8bit, 16MHz ATmega328P) and measures the time taken for predicting the delay for each message (execution overhead).The obtained results clearly indicate that the method is computationally feasible for use in a real-time scenario.To my parents, my sister, and my grandparents for the unconditional love and support.iv I would like to extend my special thanks to Dr. Anton Cervin (Lund University) for clarifying queries about TrueTime and Dr. Liuping Wang (RMIT University) for the discussions on MPC which proved invaluable in my research.

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Section: Review Of Literaturementioning

confidence: 99%

Online message delay prediction for model predictive control over controller area network

Rao

Zeng

2017

2017 IEEE/ACM International Conference on Computer-Aided Design (ICCAD)

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“…Thus, performance can be measured via the frequency weighted error signal ǫ H (t), see (7) and also (35). Details on how to apply principles of Moving Horizon to NCS's can be found, for example, in [84]. It is interesting to note that the framework can also be enriched to incorporate dynamic scheduling into NCS's.…”

Section: Sampling and Reconstructionmentioning

confidence: 99%

“…It is interesting to note that the framework can also be enriched to incorporate dynamic scheduling into NCS's. The resultant methodology can be regarded as incorporating sampling and quantization on demand and is, thus, highly efficient from a data representation perspective, see [84]. …”

Section: Sampling and Reconstructionmentioning

confidence: 99%

Efficient Data Representations for Signal Processing and Control: "Making Most of a Little"

Goodwin

Derpich

Quevedo

2006

2006 Chinese Control Conference

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Abstract:In order that signals can be stored, transmitted or processed it is necessary that they first be converted into digital form. This, in turn, raises the problem of how to digitize data so as to achieve the best trade-off between data load and performance, i.e., "how to make the most out of a little". Two issues are involved in this problem, namely temporal quantization (i.e., sampling) and spatial quantization. These two problems have traditionally been addressed separately. Indeed, there exists substantial literature dealing with the temporal quantization problem, covering both band-limited and non-band-limited signals. The usual underlying paradigm is that of an analysis filter, followed by a sampler, followed by a reconstruction filter. Various parts of this architecture can be optimized once other parts have been specified. On the other hand, spatial quantization has been studied extensively for a given sampling strategy, particularly in the framework of sigma delta conversion. Finally, it is also possible to formulate the joint design problem for sampling and spatial quantization. This typically leads to enhanced performance compared to that achievable by considering the two aspects separately. This paper will survey the general area of sampling and quantization and analyze methods for achieving efficient data representations for signal processing and control applications. We will show how, on the one hand, contemporary control theory can contribute to the design of sampling and quantization systems and, on the other hand, how these systems impact on the performance of modern feedback control systems.

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“…There are several network-induced effects that arise when dealing with the NCS, such as time-delays (Niculescu, 2001;Nilsson et al, 1998;Pan et al, 2006;Schöllig et al, 2007;Yi et al, 2007;Zhang et al, 2005), packet losses (Xiong and Lam, 2007;Sahebsara et al, 2007;Yu et al, 2004;Georges et al, 2011) and quantization problems (Goodwin et al, 2004;Montestruque and Antsaklis, 2007;Fang et al, 2007). Because of the inherent complexity of such systems, the control issues of NCSs have attracted attention of many researchers, particularly taking into account network-induced effects.…”

Section: Introductionmentioning

confidence: 99%

Fault diagnosis in a networked control system under communication constraints: A quadrotor application

Chabir

Sid

Sauter

2014

International Journal of Applied Mathematics and Computer Science

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This paper considers the problem of attitude sensor fault diagnosis in a quadrotor helicopter. The proposed approach is composed of two stages. The first one is the modelling of the system attitude dynamics taking into account the induced communication constraints. Then a robust fault detection and evaluation scheme is proposed using a post-filter designed under a particular design objective. This approach is compared with previous results based on the standard Kalman filter and gives better results for sensor fault diagnosis.

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A Moving Horizon Approach to Networked Control System Design

Cited by 241 publications

References 39 publications

Online message delay prediction for model predictive control over controller area network

Online message delay prediction for model predictive control over controller area network

Efficient Data Representations for Signal Processing and Control: "Making Most of a Little"

Fault diagnosis in a networked control system under communication constraints: A quadrotor application

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