Title :
Delay compensation in packet-switching networked controlled systems
Author :
Chaillet, Antoine ; Bicchi, Antonio
Author_Institution :
SUPELEC, EECI, Univ. Paris Sud, Gif-sur-Yvette, France
Abstract :
In this paper, we consider the problem of stabilizing sufficiently smooth nonlinear time-invariant plants over a network whereby feedback is closed through a limited-bandwidth digital channel. Reliable packet switching networks are explicitly considered, for which both the time between consecutive accesses to each node (MATI) and the delay by which each data packet is received, processed, and fed back to the plant are unknown but bounded. For what concerns networked feedback control, the main difference between a packet-switching and a circuit-switching network with the same bandwidth is that packets can convey larger amounts of feedback data (measurements and control inputs) with much higher latency and jitter than a conventional communication channel. To compensate the unpredictably varying delays in packet switching networked control systems, we propose a model-based strategy that exploits the relatively high payload which can be associated to each packet. A bound on the tolerable delays and access frequency is explicitly provided.
Keywords :
compensation; delays; digital communication; distributed control; feedback; jitter; nonlinear control systems; packet switching; stability; telecommunication channels; telecommunication network reliability; access frequency; communication channel; data packet processing; data packet receipt; delay compensation; jitter; limited-bandwidth digital channel; networked feedback control; packet switching network reliability; packet-switching networked controlled system; smooth nonlinear time-invariant plants; stability; Bandwidth; Communication channels; Communication system control; Control systems; Delay effects; Feedback circuits; Feedback control; Jitter; Networked control systems; Packet switching;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4739043