Title :
μ-synthesis for distributed control systems with network-induced delays
Author :
Göktas, Faik ; Smith, Jonathan M. ; Bajcsy, Ruzena
Author_Institution :
Dept. of Comput. & Inf. Sci., Pennsylvania Univ., Philadelphia, PA, USA
Abstract :
This paper presents the use of H∞-control theory and the μ-synthesis approach for distributed control systems incorporating a digital controller and a continuous system, separated by a local area network. Due to random delays in the network, the control system is modeled as a random time-delayed sampled-data system. An example of robust and stable controller design is given for a linearized single-link robot manipulator. A network infrastructure is proposed for distributed control applications
Keywords :
control system synthesis; digital control; distributed control; feedback; local area networks; manipulators; robust control; sampled data systems; μ-synthesis; H∞-control theory; digital controller; distributed control systems; linearized single-link robot manipulator; local area network; network infrastructure; network-induced delays; random delays; random time-delayed sampled-data system; Asynchronous transfer mode; Automatic control; Communication system control; Computational modeling; Control system synthesis; Control systems; Delay systems; Distributed control; Feedback; Network synthesis;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.574501
