Title :

Networked control using GPS synchronization

Author(s) :

Seuret, Alexandre [Auteur]
Laboratoire d'Automatique, Génie Informatique et Signal [LAGIS]
Michaut, Fabien [Auteur]
Centre de Recherche en Automatique de Nancy [CRAN]
Richard, Jean-Pierre [Auteur]
Systèmes Non Linéaires et à Retards [SyNeR]
Divoux, Thierry [Auteur]
Centre de Recherche en Automatique de Nancy [CRAN]

Conference title :

ACC'06, American Control Conference

Conference organizers(s) :

IEEE

City :

Minneapolis, Minnesota, USA

Country :

Etats-Unis d'Amérique

Start date of the conference :

2006

Publication date :

2006

HAL domain(s) :

Informatique [cs]/Systèmes embarqués
Informatique [cs]/Modélisation et simulation
Informatique [cs]/Réseaux et télécommunications [cs.NI]
Informatique [cs]/Robotique [cs.RO]
Mathématiques [math]/Systèmes dynamiques [math.DS]
Mathématiques [math]/Optimisation et contrôle [math.OC]

English abstract : [en]

This work concerns the control, the observation and then, the implementation principles of a remote system (Master and Slave parts) through the Internet network. This communication link introduces variable delays that have ...
Show more >This work concerns the control, the observation and then, the implementation principles of a remote system (Master and Slave parts) through the Internet network. This communication link introduces variable delays that have to be taken into account in the control-observation loop. The data-sampling effects will also be considered, even in the aperiodic case. The Slave part is considered to be a linear system. But, since its computation power is supposed to be limited, the control complexity (which, here, is an observer-based state feedback) has to stay in the Master part. The global system must ensure speed performance whatever the delay variation. Such a performance is obtained by showing the robust, exponential stability property, which is proven by using adequate Lyapunov-Krasovskii functionals. This makes possible to compute the controller and observer gains by using LMI optimization. The technical solution we propose is based on a GPS system, which guarantees the Master and Slave clocks to be synchronized. Then, the control and measurement packets are sent together with time-stamps that allow for reconstructing a non-symmetric delay information. It means that Master-to-Slave and Slave-to-Master delays are separately reconstructed by the system (and not only the global RTT, round-trip-time). The last part of the paper provides an example where the Slave is a second-order system.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL