Design of Networked Control Systems Using Passivity

Real-life cyber physical systems, such as automotive vehicles, building automation systems, and groups of unmanned vehicles are monitored and controlled by networked control systems (NCS). The overall system dynamics emerges from the interaction among physical dynamics, computational dynamics, and c...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2013-05, Vol.21 (3), p.649-665
Main Authors: Kottenstette, N., Hall, J. F., Koutsoukos, X., Sztipanovits, J., Antsaklis, P.
Format: Article
Language:English
Subjects:
Architecture
Automation
Computer architecture
Control systems
cyber-physical system
Delay
discrete time systems
Dynamical systems
Dynamics
Friction
industrial control
Lyapunov methods
networked control systems
Networks
nonlinear control systems
passivity-based control
robot control
Robots
Stability analysis
telerobotics
time-varying systems
Uncertainty
Wireless networks
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Description
Summary:Real-life cyber physical systems, such as automotive vehicles, building automation systems, and groups of unmanned vehicles are monitored and controlled by networked control systems (NCS). The overall system dynamics emerges from the interaction among physical dynamics, computational dynamics, and communication networks. Network uncertainties such as time-varying delay and packet loss cause significant challenges. This paper proposes a passive control architecture for designing NCS that are insensitive to network uncertainties. We describe the architecture for a system consisting of a robotic manipulator controlled by a digital controller over a wireless network and show that the system is stable even in the presence of time-varying delays. Experimental results demonstrate the advantages of the passivity-based architecture with respect to stability and performance and show that the system is insensitive to network uncertainties.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2012.2189211