Bilateral control with Bluetooth and its evaluation

Mitome, Fumiya; Ohnishi, Kouhei

doi:10.1109/hsi.2011.5937390

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Cited by 2 publications

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“…Lower RMSE values of system without Smith predictor are explained by more aggressive response of system to step function. 4, it can be noticed that only P parameter is changed.…”

Section: Methodsmentioning

confidence: 99%

See 1 more Smart Citation

Bluetooth Synchronous Connection Oriented Link Usage in Networked Control Systems

Umirov¹,

박정일²

2012

Journal of Institute of Control, Robotics and Systems

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In this paper the usage of Bluetooth in networked control systems is described. ACL links and commonly used serial port profile built on top of ACL links are analyzed and their problems such as unpredictable latency are discovered. SCO link packet scheduling, latency estimation and setup procedure are examined. SCO link is suggested as proper link for NCS, due to its low latency and low variance. Smith predictor use for latency compensation is described and its impact on control performance is estimated. A number of experiments on DC motor position control are performed and control performance of system utilizing SCO link with and without Smith predictor is proved to be higher than control performance of system utilizing ACL link.

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“…Lower RMSE values of system without Smith predictor are explained by more aggressive response of system to step function. 4, it can be noticed that only P parameter is changed.…”

Section: Methodsmentioning

confidence: 99%

“…But typically experiments in them are performed using SPP (Serial Port Profile) that works on top of ACL (Asynchronous Connectionless) Bluetooth link [3,4]. The main reason for SPP use is implementation simplicity letting parties communicate with each other as they would do being connected by serial cable.…”

Section: Introductionmentioning

confidence: 99%