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Estimation based approximating control for wireless networked control systems

  • 1.

    College of InformationEngineering, ZhejiangUniversity of Technology,Hangzhou 310012, China

  • 2.

    Department of Automation, University of Science and Technology of China, Hefei 230027, China

Cite this:
https://doi.org/10.52396/JUST-2020-1156
  • Received Date: 21 December 2020
  • Rev Recd Date: 06 February 2021
  • Publish Date: 30 April 2021
    Abstract

  • Abstract

    The control design and system analysis of wireless networked control systems with unknown round-trip delay characteristics are investigated. An estimation based approximating control strategy is proposed to stabilize the systems by using delay characteristics in a practically feasible way. The strategy first uses a delay transition probability estimator to obtain the delay characteristics estimation by measuring delay data online, and then uses an approximating controller to take advantage of the estimation. On this basis, a packet delay variation detector is designed, making the strategy adaptive to the variation of delay characteristics. The sufficient conditions to ensure the closed-loop system being mean-square uniformly ultimately bounded are given, with also the controller gain design method. The effectiveness of the proposed approach is verified numerically.

    Abstract

    The control design and system analysis of wireless networked control systems with unknown round-trip delay characteristics are investigated. An estimation based approximating control strategy is proposed to stabilize the systems by using delay characteristics in a practically feasible way. The strategy first uses a delay transition probability estimator to obtain the delay characteristics estimation by measuring delay data online, and then uses an approximating controller to take advantage of the estimation. On this basis, a packet delay variation detector is designed, making the strategy adaptive to the variation of delay characteristics. The sufficient conditions to ensure the closed-loop system being mean-square uniformly ultimately bounded are given, with also the controller gain design method. The effectiveness of the proposed approach is verified numerically.
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    • References(26)
  • [1]
    Park P, Ergen S C, Fischione C, et al.Wireless network design for control systems: A survey. IEEE Communications Surveys & Tutorials, 2018, 20(2): 978-1013.
    [2]
    Zhang X M, Han Q L, Yu X. Survey on recent advances in networked control systems. IEEE Transactions on Industrial Informatics, 2016, 12(5): 1740-1752.
    [3]
    Oubbati O S, Atiquzzaman M, Lorenz P, et al. Routing in flying Ad Hoc networks: Survey, constraints and future challenge perspectives. IEEE Access, 2019, 7: 81057-81105.
    [4]
    Chakma R, Mahtab S S, Akter Milu S, et al. Navigation and tracking of AGV in ware house via wireless sensor network. 3rd International Electrical and Energy Conference. Beijing, China: IEEE, 2019:1686-1690.
    [5]
    Ji B, Zhang X, Mumtaz S, et al. Survey on the internet of vehicles: Network architectures and applications. IEEE Communications Standards Magazine, 2020, 4(1): 34-41.
    [6]
    Cheng X, Zhang R, Yang L. Wireless toward the era of intelligent vehicles. IEEE Internet of Things Journal, 2019, 6(1): 188-202.
    [7]
    Wu Y, Karimi H R, Lu R. Sampled-data control of network systems in industrial manufacturing. IEEE Transactions on Industrial Electronics, 2018, 65(11): 9016-9024.
    [8]
    Wang Y L, Han Q L. Network-based modelling and dynamic output feedback control for unmanned marine vehicles in network environments. Automatica, 2018, 91: 43-53.
    [9]
    Xiong J, Lam J. Stabilization of networked control systems with a logic zoh. IEEE Transactions on Automatic Control, 2009, 54(2): 358-363.
    [10]
    Gao H, Chen T. New results on stability of discrete-time systems with time-varying state delay. IEEE Transactions on Automatic Control, 2007, 52(2): 328-334.
    [11]
    Xu S, Lam J, Zou Y. New results on delay-dependent robust h control for systems with time-varying delays. Automatica, 2006, 42(2): 343-348.
    [12]
    Yue D, Tian E, Wang Z, et al. Stabilization of systems with probabilistic interval input delays and its applications to networked control systems. IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans, 2009, 39(4): 939-945.
    [13]
    Yan S, Nguang S K, Shen M, et al. Event-triggered H∞ control of networked control systems with distributed transmission delay. IEEE Transactions on Automatic Control, 2019, 65(10): 4295-4301.
    [14]
    Shi Y, Yu B. Output feedback stabilization of networked control systems with random delays modeled by Markov chains. IEEE Transactions on Automatic Control, 2009, 54(7): 1668-1674.
    [15]
    Park P, Di Marco P, Fischione C, et al. Delay distribution analysis of wireless personal area networks. Conference on Decision and Control. Maui, USA: IEEE, 2012:5864-5869.
    [16]
    Pollin S, Ergen M, Ergen S C, et al. Performance analysis of slotted carrier sense IEEE 802.15. 4 medium access layer. IEEE Transactions on wireless communications, 2008, 7(9): 3359-3371.
    [17]
    Jiao W, Sheng M, Lui K, et al. End-to-end delay distribution analysis for stochastic admission control in multi-hop wireless networks. IEEE Transactions on Wireless Communications, 2014, 13(3): 1308-1320.
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    Kang Y, Zhao Y B. Dynamic data packing towards the optimization of QoC and QoS in networked control systems. Science China Technological Sciences, 2016, 59(1): 72-80.
    [19]
    Brown L D, Cai T T, DasGupta A. Interval estimation for a binomial proportion. Statistical Science, 2001, 16(2): 101-117.
    [20]
    Boukas E K,Stochastic Switching Systems. Boston: Birkhauser, 2006.
    [21]
    Zhao Y B, Liu G P, Rees D. Design of a packet-based control framework for networked control systems. IEEE Transactions on Control Systems Technology, 2009, 17(4): 859-865.
    [22]
    Sheldon R. A First Course in Probability. New Jersey: Prentice Hall, 2002.
    [23]
    Zhao X, Shi P, Zheng X, et al. Adaptive tracking control for switched stochastic nonlinear systems with unknown actuator dead-zone. Automatica, 2015, 60: 193-200.
    [24]
    El Ghaoui L, Oustry F, Aitrami M A. Cone complementarity linearization algorithm for static output-feedback and related problems. IEEE Transactions on automatic control, 1997, 42(8): 1171-1176.
    [25]
    Wang C H, Wang Y F, Gao H J. Compensation time-varying delays in networked control system via delay-dependent stabilization approach. International Conference on Control Applications, Taipei, China: IEEE, 2004: No.31.
    [26]
    Zhang L, Shi Y, Chen T, et al. A new method for stabilization of networked control systems with random delays. IEEE Transactions on Automatic Control, 2005, 50(8): 1177-1181.
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    [1]
    Park P, Ergen S C, Fischione C, et al.Wireless network design for control systems: A survey. IEEE Communications Surveys & Tutorials, 2018, 20(2): 978-1013.
    [2]
    Zhang X M, Han Q L, Yu X. Survey on recent advances in networked control systems. IEEE Transactions on Industrial Informatics, 2016, 12(5): 1740-1752.
    [3]
    Oubbati O S, Atiquzzaman M, Lorenz P, et al. Routing in flying Ad Hoc networks: Survey, constraints and future challenge perspectives. IEEE Access, 2019, 7: 81057-81105.
    [4]
    Chakma R, Mahtab S S, Akter Milu S, et al. Navigation and tracking of AGV in ware house via wireless sensor network. 3rd International Electrical and Energy Conference. Beijing, China: IEEE, 2019:1686-1690.
    [5]
    Ji B, Zhang X, Mumtaz S, et al. Survey on the internet of vehicles: Network architectures and applications. IEEE Communications Standards Magazine, 2020, 4(1): 34-41.
    [6]
    Cheng X, Zhang R, Yang L. Wireless toward the era of intelligent vehicles. IEEE Internet of Things Journal, 2019, 6(1): 188-202.
    [7]
    Wu Y, Karimi H R, Lu R. Sampled-data control of network systems in industrial manufacturing. IEEE Transactions on Industrial Electronics, 2018, 65(11): 9016-9024.
    [8]
    Wang Y L, Han Q L. Network-based modelling and dynamic output feedback control for unmanned marine vehicles in network environments. Automatica, 2018, 91: 43-53.
    [9]
    Xiong J, Lam J. Stabilization of networked control systems with a logic zoh. IEEE Transactions on Automatic Control, 2009, 54(2): 358-363.
    [10]
    Gao H, Chen T. New results on stability of discrete-time systems with time-varying state delay. IEEE Transactions on Automatic Control, 2007, 52(2): 328-334.
    [11]
    Xu S, Lam J, Zou Y. New results on delay-dependent robust h control for systems with time-varying delays. Automatica, 2006, 42(2): 343-348.
    [12]
    Yue D, Tian E, Wang Z, et al. Stabilization of systems with probabilistic interval input delays and its applications to networked control systems. IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans, 2009, 39(4): 939-945.
    [13]
    Yan S, Nguang S K, Shen M, et al. Event-triggered H∞ control of networked control systems with distributed transmission delay. IEEE Transactions on Automatic Control, 2019, 65(10): 4295-4301.
    [14]
    Shi Y, Yu B. Output feedback stabilization of networked control systems with random delays modeled by Markov chains. IEEE Transactions on Automatic Control, 2009, 54(7): 1668-1674.
    [15]
    Park P, Di Marco P, Fischione C, et al. Delay distribution analysis of wireless personal area networks. Conference on Decision and Control. Maui, USA: IEEE, 2012:5864-5869.
    [16]
    Pollin S, Ergen M, Ergen S C, et al. Performance analysis of slotted carrier sense IEEE 802.15. 4 medium access layer. IEEE Transactions on wireless communications, 2008, 7(9): 3359-3371.
    [17]
    Jiao W, Sheng M, Lui K, et al. End-to-end delay distribution analysis for stochastic admission control in multi-hop wireless networks. IEEE Transactions on Wireless Communications, 2014, 13(3): 1308-1320.
    [18]
    Kang Y, Zhao Y B. Dynamic data packing towards the optimization of QoC and QoS in networked control systems. Science China Technological Sciences, 2016, 59(1): 72-80.
    [19]
    Brown L D, Cai T T, DasGupta A. Interval estimation for a binomial proportion. Statistical Science, 2001, 16(2): 101-117.
    [20]
    Boukas E K,Stochastic Switching Systems. Boston: Birkhauser, 2006.
    [21]
    Zhao Y B, Liu G P, Rees D. Design of a packet-based control framework for networked control systems. IEEE Transactions on Control Systems Technology, 2009, 17(4): 859-865.
    [22]
    Sheldon R. A First Course in Probability. New Jersey: Prentice Hall, 2002.
    [23]
    Zhao X, Shi P, Zheng X, et al. Adaptive tracking control for switched stochastic nonlinear systems with unknown actuator dead-zone. Automatica, 2015, 60: 193-200.
    [24]
    El Ghaoui L, Oustry F, Aitrami M A. Cone complementarity linearization algorithm for static output-feedback and related problems. IEEE Transactions on automatic control, 1997, 42(8): 1171-1176.
    [25]
    Wang C H, Wang Y F, Gao H J. Compensation time-varying delays in networked control system via delay-dependent stabilization approach. International Conference on Control Applications, Taipei, China: IEEE, 2004: No.31.
    [26]
    Zhang L, Shi Y, Chen T, et al. A new method for stabilization of networked control systems with random delays. IEEE Transactions on Automatic Control, 2005, 50(8): 1177-1181.
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