Cooperative Networked Control with Gain Switching Observer

Author

Nakamura, Yukinori ; Hirata, Kentaro ; Sugimoto, Kenji ; Kogiso, Kiminao

Author_Institution

Nara Inst. of Sci. & Technol., Nara

fYear

2007

fDate

1-3 Oct. 2007

Firstpage

184

Lastpage

189

Abstract

This paper considers a networked synchronization of multiple subsystems for cooperative control. When a system sends out local measurement signals to others, transmission delay can take place. We assume that the amount of the transmission delay can be calculated at the receiving instance by using the information of the time-stamp of each packet. Based on this information, the effect of the delay is compensated. Specifically, we design a gain switching observer via LMI (Linear Matrix Inequality) technique for multiple purpose optimization. An experimental result of synchronization of a mini plant with 3 DC-motors is shown to demonstrate its practical effect on the transmission delay.

Keywords

compensation; computer networks; control engineering computing; cooperative systems; delays; linear matrix inequalities; observers; state estimation; synchronisation; time-varying systems; LMI technique; cooperative networked control; delay effect compensation; gain switching observer design; linear matrix inequality; multiple purpose optimization; multiple subsystems; networked synchronization; state estimation; transmission delay; Automatic control; Communication channels; Communication system control; Control systems; Delay effects; IP networks; Remotely operated vehicles; Robotics and automation; Service robots; Synchronization;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 2007. ISIC 2007. IEEE 22nd International Symposium on

Conference_Location

Singapore

ISSN

2158-9860

Print_ISBN

978-1-4244-0440-7

Electronic_ISBN

2158-9860

Type

conf

DOI

10.1109/ISIC.2007.4450882

Filename

4450882