Title :
Cooperative Networked Control with Gain Switching Observer
Author :
Nakamura, Yukinori ; Hirata, Kentaro ; Sugimoto, Kenji ; Kogiso, Kiminao
Author_Institution :
Nara Inst. of Sci. & Technol., Nara
Abstract :
This paper considers a networked synchronization of multiple subsystems for cooperative control. When a system sends out local measurement signals to others, transmission delay can take place. We assume that the amount of the transmission delay can be calculated at the receiving instance by using the information of the time-stamp of each packet. Based on this information, the effect of the delay is compensated. Specifically, we design a gain switching observer via LMI (Linear Matrix Inequality) technique for multiple purpose optimization. An experimental result of synchronization of a mini plant with 3 DC-motors is shown to demonstrate its practical effect on the transmission delay.
Keywords :
compensation; computer networks; control engineering computing; cooperative systems; delays; linear matrix inequalities; observers; state estimation; synchronisation; time-varying systems; LMI technique; cooperative networked control; delay effect compensation; gain switching observer design; linear matrix inequality; multiple purpose optimization; multiple subsystems; networked synchronization; state estimation; transmission delay; Automatic control; Communication channels; Communication system control; Control systems; Delay effects; IP networks; Remotely operated vehicles; Robotics and automation; Service robots; Synchronization;
Conference_Titel :
Intelligent Control, 2007. ISIC 2007. IEEE 22nd International Symposium on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-0440-7
Electronic_ISBN :
2158-9860
DOI :
10.1109/ISIC.2007.4450882
