Stability of networked control systems with large delays

Cloosterman, Mbg Marieke; Wouw, Nathan van de; Heemels, W.P.M.H.; Nijmeijer, Henk

doi:10.1109/cdc.2007.4434669

Cited by 43 publications

(35 citation statements)

References 16 publications

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“…For the case of constant sampling intervals h k = h, ∀k, sufficient conditions for the feasibility of (12) in terms of (finite sets) of LMIs are proposed in [5] based on a (real) Jordan form representation of the NCS applicable to both small and large delays. Based on the sufficiency of (13) for ISS, the necessary derivations of the finite set of LMIs are similar to those in [5]. For the sake of brevity, we will omit such technicalities here.…”

Section: A Discrete-time Approachmentioning

confidence: 99%

Tracking control for networked control systems

Wouw

Naghshtabrizi

Cloosterman

et al. 2007

2007 46th IEEE Conference on Decision and Control

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Abstract-A solution to the approximate tracking problem for Networked Control Systems (NCSs) with uncertain, timevarying 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-tostate 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.

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Section: A Discrete-time Approachmentioning

confidence: 99%

Tracking control for networked control systems

Wouw

Naghshtabrizi

Cloosterman

et al. 2007

2007 46th IEEE Conference on Decision and Control

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“…These delays stem from the information flow between: a) the sensor and the controller, and b) the controller and the actuator. They have in general different characteristics depending primarily on the utilized network protocol, the scheduling methods and the communication overhead (packet collisions/retransmissions/losses) used in NCS, while their presence imposes strict limitations on the achievable feedback performance [1], [2], [3], [4]. For the case of a discrete static feedback implemented with a period h, these delays can be lumped into a single term τ k , where k refers to the sampling instant kh [2].…”

Section: Introductionmentioning

confidence: 99%

“…In [3], LMIs are used for robust stability analysis and controller synthesis for networked systems subject to uncertain time-varying delays upper bounded by a sampling period; the case of NCS with delays longer than one sampling period is presented in [4], [6]. By treating the uncertain NCS delay as a time-varying parameter uncertainty, sufficient conditions, expressed as LMIs, for the existence of a static stabilizing state feedback controller appear in [7], [8], [9].…”

Section: Introductionmentioning

confidence: 99%

Feedback stabilization of Networked Control Systems

Bitsoris

Αθανασόπουλος

Dritsas

2009

2009 IEEE International Conference on Control Applications

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Abstract-In this paper the stability analysis and control synthesis problems for Networked Control Systems (NCS) with bounded transmission delays (constant and unknown or timevarying) are investigated. First, stability conditions for NCS described by ARMA models are established and a method for the determination of admissible delay range is developed. Then, a linear programming method for the design of linear state-feedback controllers guaranteeing the stability of the system for any delay belonging to a prespecified range is developed. Contrary to the usual approaches based on the use of quadratic Lyapunov functions, a polyhedral Lyapunov approach is adopted for both analysis and synthesis. A control synthesis numerical example is given to illustrate the reduction of conservatism of the tolerable delay range when compared to former results .

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“…It may also affect the establishment of the output. Several studies have modeled the linear systems with delays by differential equations covering both the present and the past states of the system, assuming that the derivative of the vector of states can be explained at every time t. Other studies consider delay systems as nonlinear and no stationary [6], [7] with parameters varying depending on time or the state of the system. The representation of such variation may be continuous or piecewise continuous [8].Modeling a delayed discrete time system as switched system is a new approach emerging from researches on lines supports and telecommunications systems.…”

Section: Introductionmentioning

confidence: 99%

Switched Control of a Time Delayed Compass Gait Robot

Maherzi¹,

Arouri²,

Besbes³

2016

ijacsa

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Abstract-the analysis and control of delayed systems are becoming more and more research topics in progress. This is mainly due to the fact that the delay is frequently encountered in technological systems. Most control command laws are based on current digital computers and delays are intrinsic to the process or in the control loop caused by the transmission time control sequences, or computing time. In other hand, the controls of humanoid walking robot present a common problem in robotics because it involves physical interaction between an articulated system and its environment. This close relationship is actually a common set of fundamental problems such as the implementation of robust stable dynamic control. This paper presents acomplete approach, based on switched system theory, for the stabilization of a compass gait robot subject to time delays transmission. The multiple feedback gains designed are based on multiple linear systems governed by a switching control law. The establishment of control law in real time is affected by the unknown pounded random delay. The results obtained from this method show that the control law stabilize the compass robot walk despite a varying delay reaching six times sampling period.

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Stability of networked control systems with large delays

Abstract: Abstract-

Cited by 43 publications

References 16 publications

Tracking control for networked control systems

Tracking control for networked control systems

Feedback stabilization of Networked Control Systems

Switched Control of a Time Delayed Compass Gait Robot

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