Title :
Modeling and dynamic gain scheduling for networked systems with bounded packet losses
Author :
Liu, Shichao ; Liu, Xiaoping P. ; El Saddik, Abdulmotaleb
Author_Institution :
Dept. of Syst. & Comput. Eng., Carleton Univ., Ottawa, ON, Canada
Abstract :
In this paper, the modeling and dynamic gain scheduling design of the Networked Control System(NCS) with packet losses are investigated. Instead of finding statically boundary condition for stability of NCS, we develop a linear quadratic regulation(LQR) gain scheduler method to dynamically compensate for degradation of the NCS real-time performance caused by lossy network. The NCS with packet losses is modeled as a jump linear system(JLS) by multi-rate sampling approach. A bank of packet-loss-dependant LQR gains is obtained via linear quadratic optimal control theory. One-on-one relationship between packet loss value and LQR gain is described through a lookup table. Simulation results of a networked robotic arm show the proposed algorithm can guarantee system stable and fast convergence rate of system states.
Keywords :
linear quadratic control; linear systems; manipulators; networked control systems; time-varying systems; bounded packet loss; dynamic gain scheduling design; jump linear system; linear quadratic optimal control theory; linear quadratic regulation gain scheduler method; lookup table; multirate sampling approach; networked control system; networked robotic arm; one-on-one relationship; Dynamic scheduling; Networked control systems; Robots; State feedback; Vectors; Networked control system; gain scheduling; jump linear system; packet losses;
Conference_Titel :
Measurements and Networking Proceedings (M&N), 2011 IEEE International Workshop on
Conference_Location :
Anacapri
Print_ISBN :
978-1-4577-0455-0
DOI :
10.1109/IWMN.2011.6088480
