Paper Info
Title
Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems
Abstract
The nature of wireless propagation may reduce the QoS of the applications, such that some packages can be delayed or lost. For this reason, the design of wireless control applications must be faced in a holistic way to avoid degrading the performance of the control algorithms. This paper is aimed at improving the reliability of wireless control applications in the event of communication degradation or temporary loss at the wireless links. Two controller levels are used: sophisticated algorithms providing better performance are executed in a central node, whereas local independent controllers, implemented as back-up controllers, are executed next to the process in case of QoS degradation. This work presents a reliable strategy for switching between central and local controllers avoiding that plants may become uncontrolled. For validation purposes, the presented approach was used to control a planar robot. A Fuzzy Logic control algorithm was implemented as a main controller at a high performance computing platform. A back-up controller was implemented on an edge device. This approach avoids the robot becoming uncontrolled in case of communication failure. Although a planar robot was chosen in this work, the presented approach may be extended to other processes. XBee 900 MHz communication technology was selected for control tasks, leaving the 2.4 GHz band for integration with cloud services. Several experiments are presented to analyze the behavior of the control application under different circumstances. The results proved that our approach allows the use of wireless communications, even in critical control applications.
Year
DOI
Venue
2021
10.3390/s21217107
SENSORS
Keywords
DocType
Volume
industrial internet of things (IIoT), wireless control systems, <p>industry 4.0 & nbsp,</p>, XBee, LabVIEW, fuzzy control, reliable control systems, robotics, gain scheduling fuzzy PID controller
Journal
21
Issue
ISSN
Citations 
21
1424-8220
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Isidro Calvo15714.79
Eneko Villar200.34
Cristian Napole300.68
Aitor Fernández400.34
Oscar Barambones55613.24
José Miguel Gil-García600.34