New coding scheme for the state estimation and reference tracking of nonlinear dynamic systems over the packet erasure channel (IoT): Applications in tele-operation of autonomous vehicles

Parsa, Ali; Farhadi, Alireza

doi:10.1016/j.ejcon.2020.05.002

Cited by 6 publications

(38 citation statements)

References 20 publications

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“…Reference [15] has motivates other works, such as refs. [16] and [17], which are concerned with nonlinear dynamic systems over the packet erasure channel.…”

Section: Introductionmentioning

confidence: 99%

“…Other technique for remote monitoring and control of nonlinear dynamic systems subject to the random packet dropout can be found in ref. [17]. In ref.…”

Section: Introductionmentioning

confidence: 99%

“…In ref. [17], we proposed a new technique, which directly involved nonlinear dynamics for the development of nonlinear teleoperated systems. [19].…”

Section: Introductionmentioning

confidence: 99%

“…In this article, we apply the coding and control techniques developed in refs. [16] and [17] for remote monitoring and control of robotic manipulators over the Internet, which is modeled by the packet erasure channel. The coding and control techniques of refs.…”

Section: Introductionmentioning

confidence: 99%

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Remote monitoring and control of the 2-DoF robotic manipulators over the internet

Hokmi

Haghi²,

Farhadi³

2022

Robotica

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This article is concerned with remote monitoring and control of the 2-degrees of freedom (DoF) robotic manipulators, which have nonlinear dynamics over the packet erasure channel, which is an abstract model for communication over the Internet, WiFi, or Zigbee modules. This type of communication is subject to imperfections, such as random packet dropout and rate distortion. These imperfections cause a significant challenge for monitoring and control of robotic manipulators in the industrial environments because sensitive data, such as sensor data and control commands may not ever reach to their destination resulting in significant performance degradation. Therefore, the effects of these imperfections must be compensated. In this article, we apply two coding and control techniques previously developed for the telepresence ad teleoperation of autonomous vehicles to compensate the effects of the above communication imperfections for remote monitoring and control of the 2-DoF robotic manipulators controlled over the packet erasure channel. To achieve this goal, we design a new linear controller and a new nonlinear controller for the 2-DoF robotic manipulators over the packet erasure channel. The first technique is based on the linearization method and the second technique uses a nonlinear controller. The performances of these two techniques for remote monitoring and control of robotic manipulators are evaluated and compared with each other in this paper. We illustrate their satisfactory performances in the presence of severe communication imperfections.

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“…Reference [15] has motivates other works, such as refs. [16] and [17], which are concerned with nonlinear dynamic systems over the packet erasure channel.…”

Section: Introductionmentioning

confidence: 99%

“…Other technique for remote monitoring and control of nonlinear dynamic systems subject to the random packet dropout can be found in ref. [17]. In ref.…”

Section: Introductionmentioning

confidence: 99%

“…In ref. [17], we proposed a new technique, which directly involved nonlinear dynamics for the development of nonlinear teleoperated systems. [19].…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Remote monitoring and control of the 2-DoF robotic manipulators over the internet

Hokmi

Haghi²,

Farhadi³

2022

Robotica

Self Cite

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“…Over the recent years, willingness to employ networked control systems (NCSs) has dramatically developed due to (1) worldwide growth of data networking and the Internet, (2) simple installation, (3) elimination of inessential wiring between system components, and (4) flexibility of architecture 1‐3 . NCSs have been applied to a variety of industrial applications, namely, teleoperation of autonomous vehicles, 4 wireless sensor networks, 5 water resource management systems, 6 and unmanned aerial vehicles 7 . However, due to the imperfections of communication channels, there are some challenging issues, including network‐induced delays 8,9 and packet dropouts, 10,11 which lead to performance degradation or even system instability.…”

Section: Introductionmentioning

confidence: 99%

Static output feedback control of uncertain systems over uncertain communication links with guaranteed H_∞ performance

Haghighi

Tavassoli

2020

Intl J Robust & Nonlinear

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This article is concerned with the problem of robust static output feedback H∞ control for networked control systems (NCSs) by considering uncertainties in both controlled‐plant and communication subsystems. Markov chains are employed to model the bounded random network‐induced delays occurring in the communication channels. This modeling framework can be used to describe the packet dropout phenomena over a lossy communication channel as well. It is assumed that the transition probabilities of the Markov chains are uncertain but lying within given intervals. By utilizing the augmentation technique, the NCS model is transformed into a delay‐free Markovian jump linear system. A new sufficient condition is derived for the problem of robust H∞ control using static output feedback in NCSs with network‐induced delays. This design condition is expressed in terms of linear matrix inequalities without requiring any constraints on the matrix variables. Furthermore, the proposed method is extended to the case of NCSs with bounded Markovian packet dropouts. Numerical examples are provided to make comparisons with other works and demonstrate the advantages of the proposed method.

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Application of the closed loop industrial internet of things (IIoT)‐based control system in enhancing the oil recovery factor and the oil production

Naghneh,

Amani,

Farhadi

et al. 2023

IET Cyber-Phy Sys Theory & Ap

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A non‐linear large scale stochastic optimisation model for enhancing the oil production and the recovery factor of the offshore oil reservoirs is proposed. The model aims at minimising the miss‐match between mathematical model and the actual dynamic behaviour of the reservoir and the exploitation time, while maximising the oil production and the recovery factor. The model involves the three dimension (3D) oil reservoirs equipped with a few vertical injection and production wells. The limited number of wells is one of the major features of the common oil reservoirs in the middle‐east region. The proposed model consists of the primarily mathematical model of the 3D reservoir, a model update algorithm and a large scale constrained non‐linear optimisation algorithm. The input to this model is the daily production rate of the oil, natural gas and water produced from the oil reservoir and the output is the optimal injection rate to be injected to the injection wells in order to maximise the oil production and the recovery factor. In order to evaluate the performance of this model, the authors apply this model on part of one of the Iran's offshore oil reservoirs and study the performance improvement due to the proposed model and compare its performance with the performance of the available Improved Oil Recovery (IOR) technique. It is illustrated that the proposed model can increase the oil production from the reservoir up to 47.96% and reduce the exploitation period up to 66.66% compared with those of the available technique.

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New coding scheme for the state estimation and reference tracking of nonlinear dynamic systems over the packet erasure channel (IoT): Applications in tele-operation of autonomous vehicles

Cited by 6 publications

References 20 publications

Remote monitoring and control of the 2-DoF robotic manipulators over the internet

Remote monitoring and control of the 2-DoF robotic manipulators over the internet

Static output feedback control of uncertain systems over uncertain communication links with guaranteed H_∞ performance

Application of the closed loop industrial internet of things (IIoT)‐based control system in enhancing the oil recovery factor and the oil production

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New coding scheme for the state estimation and reference tracking of nonlinear dynamic systems over the packet erasure channel (IoT): Applications in tele-operation of autonomous vehicles

Cited by 6 publications

References 20 publications

Remote monitoring and control of the 2-DoF robotic manipulators over the internet

Remote monitoring and control of the 2-DoF robotic manipulators over the internet

Static output feedback control of uncertain systems over uncertain communication links with guaranteed H∞ performance

Application of the closed loop industrial internet of things (IIoT)‐based control system in enhancing the oil recovery factor and the oil production

Contact Info

Product

Resources

About

Static output feedback control of uncertain systems over uncertain communication links with guaranteed H_∞ performance