Stability of networked control systems: explicit analysis of delay

Branicky, M.S.; Phillips, Steven; Zhang, Wei

doi:10.1109/acc.2000.878601

Cited by 294 publications

(167 citation statements)

References 3 publications

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“…Low delays are valuable in this channel because control loops depend on it and delays generally harm loop stability [6]. So, low delays are favored by dropping in the receiver any malformed packets or assuming as lost packets those that did not arrive on time.…”

Section: Command Channelmentioning

confidence: 99%

MAVwork: A Framework for Unified Interfacing between Micro Aerial Vehicles and Visual Controllers

Mellado-Bataller

Pestana

Olivares-Méndez

et al. 2013

Frontiers of Intelligent Autonomous Systems

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Abstract. Debugging control software for Micro Aerial Vehicles (MAV) can be risky out of the simulator, especially with professional drones that might harm people around or result in a high bill after a crash. We have designed a framework that enables a software application to communicate with multiple MAVs from a single unified interface. In this way, visual controllers can be first tested on a low-cost harmless MAV and, after safety is guaranteed, they can be moved to the production MAV at no additional cost. The framework is based on a distributed architecture over a network. This allows multiple configurations, like drone swarms or parallel processing of drones' video streams. Live tests have been performed and the results show comparatively low additional communication delays, while adding new functionalities and flexibility. This implementation is open-source and can be downloaded from github.com/uavster/mavwork

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Section: Command Channelmentioning

confidence: 99%

MAVwork: A Framework for Unified Interfacing between Micro Aerial Vehicles and Visual Controllers

Mellado-Bataller

Pestana

Olivares-Méndez

et al. 2013

Frontiers of Intelligent Autonomous Systems

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“…The closed loop subsystems can be modeled as a SISO delay impulsive system given by (2) with A, B defined in (29) and (30). Then we determine the set of pairs (γ i max , τ i max ) for which the system would be exponentially stable, based on Theorem 1.…”

Section: Examplementioning

confidence: 99%

Implementation Considerations For Wireless Networked Control Systems

Naghshtabrizi

Hespanha²

2010

Wireless Networking Based Control

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We show that delay impulsive systems are a natural framework to model wired and wireless NCSs with variable sampling intervals and delays as well as packet dropouts. Then, we employ discontinuous Lyapunov functionals to characterize admissible sampling intervals and delays such that exponential stability of NCS is guaranteed. These results allow us to determine requirements needed to establish exponential stability, which is the most basic Quality of Performance (QoP) required by the application layer. Then we focus on the question of whether or not the Quality of Service (QoS) provided by the wireless network suffices to fulfil the required QoP. To answer this question we employ results from real-time scheduling and provide a set of conditions under which the desired QoP can be achieved.

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“…This paper is organized as follows: In section 2 we introduce anticipative and non-anticipative control units. We show that the resulted closed-loop systems can be written as (1). In section 3, we provide a sufficient condition for asymptotic stability of (1) as a set of LMIs.…”

Section: Notationsmentioning

confidence: 99%

“…We assume there is no delay and packet dropout in the network and the state feedback K = 3.75 11.5 stabilizes the plant. Branicky et al [1] model the system as a hybrid system and show that the closed-loop is stable as long as the sampling intervals are constant and equal to 4.5 × 10 −4 . Later Zhang and Branicky [19] find the less conservative upper bound 0.0593 for variable sampling intervals.…”

Section: Examplesmentioning

confidence: 99%

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Anticipative and Non-anticipative Controller Design for Network Control Systems

Naghshtabrizi

Hespanha

Lecture Notes in Control and Information Science

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Summary. We propose a numerical procedure to design a linear output-feedback controller for a remote linear plant in which the loop is closed through a network. The controller stabilizes the plant in the presence of delays, sampling, and packet dropouts in the (sensor) measurement and actuation channels. We consider two types of control units: anticipative and non-anticipative. In both cases the closedloop system with delays, sampling, and packet dropouts can be modeled as delay differential equations. Our method of designing the controller parameters is based on the Lyapunov-Krasovskii theorem and a linear cone complementarity algorithm. Numerical examples show that the proposed design method is significantly better than the existing ones.

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Stability of networked control systems: explicit analysis of delay

Cited by 294 publications

References 3 publications

MAVwork: A Framework for Unified Interfacing between Micro Aerial Vehicles and Visual Controllers

MAVwork: A Framework for Unified Interfacing between Micro Aerial Vehicles and Visual Controllers

Implementation Considerations For Wireless Networked Control Systems

Anticipative and Non-anticipative Controller Design for Network Control Systems

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