DocumentCode :
582549
Title :
Stabilizing and tracking control of multiple pendulum-cart systems over a shared wireless network
Author :
Cheng Hui ; Chen Yousheng ; Wong Wingshing ; Yang Qiong ; Shen Lianfeng ; Baillieul, J.
Author_Institution :
Dept. of Autom., Sun Yat-sen Univ., Guangzhou, China
fYear :
2012
fDate :
25-27 July 2012
Firstpage :
5849
Lastpage :
5854
Abstract :
Interest in networked control systems has grown rapidly. In some remotely time critical control applications, multiple sensors and actuators are connected to controllers via a shared wireless network. Feedback and control information is transmitted over the network, and the time critical data traffic can tolerate only low bit error probability and bounded delays. This paper investigates control and communication of multiple dynamical systems in time critical networked control applications by accomplishing stabilizing and tracking control of multiple pendulum-cart systems over a shared wireless network. A testbed was developed consisting of three pendulum-carts remotely controlled by one embedded controller. The scheduling of the multiple plants accessing to the shared channel uses a time division multiplexing (TDM) scheme. PD control laws are deployed, meanwhile, Kalman filtering is considered to compensate for data packet loss in network transmission. Experimental results validate that the multiple pendulums can be stabilized while the carts accurately track the desired trajectories.
Keywords :
Kalman filters; PD control; error statistics; packet radio networks; pendulums; stability; stack filters; tracking; Kalman filtering; PD control laws; data packet loss; embedded controller; error probability; feedback; multiple pendulum cart systems; multiple plants accessing; network transmission; networked control system; pendulum carts remotely controlled; shared channel; shared wireless network; stabilizing control information; time critical data traffic; time critical networked control application; time division multiplexing scheme; tracking control; Kalman filters; Sensors; Trajectory; Wireless networks; Wireless sensor networks; Kalman filter; Networked control; multiple pendulum-carts; scheduling scheme; shared communication channel;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2012 31st Chinese
Conference_Location :
Hefei
ISSN :
1934-1768
Print_ISBN :
978-1-4673-2581-3
Type :
conf
Filename :
6390966
Link To Document :
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