Paper Info
Title
A packet-based dual-rate PID control strategy for a slow-rate sensing Networked Control System.
Abstract
This paper introduces a packet-based dual-rate control strategy to face time-varying network-induced delays, packet dropouts and packet disorder in a Networked Control System. Slow-rate sensing enables to achieve energy saving and to avoid packet disorder. Fast-rate actuation makes reaching the desired control performance possible. The dual-rate PID controller is split into two parts: a slow-rate PI controller located at the remote side (with no permanent communication to the plant) and a fast-rate PD controller located at the local side. The remote side also includes a prediction stage in order to generate the packet of future, estimated slow-rate control actions. These actions are sent to the local side and converted to fast-rate ones to be used when a packet does not arrive at this side due to the network-induced delay or due to occurring dropouts. The proposed control solution is able to approximately reach the nominal (no-delay, no-dropout) performance despite the existence of time-varying delays and packet dropouts. Control system stability is ensured in terms of probabilistic Linear Matrix Inequalities (LMIs). Via real-time control for a Cartesian robot, results clearly reveal the superiority of the control solution compared to a previous proposal by authors.
Year
DOI
Venue
2017
10.1016/j.isatra.2018.02.022
ISA Transactions
Keywords
Field
DocType
Networked Control Systems,Slow sensors,Non-uniform sampling,Multi-rate control,Packet-based control
Control theory,PID controller,Gain scheduling,Networked control system,Control theory,Network packet,Control engineering,Cartesian coordinate robot,Mathematics,Computation,Actuator
Journal
Volume
ISSN
Citations 
76
0019-0578
1
PageRank 
References 
Authors
0.35
13
5
Name
Order
Citations
PageRank
Ángel Cuenca110010.15
J. Alcaina220.70
julian salt39213.70
V. Casanova461.49
Ricardo Pizá5534.59