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Robust stability analysis of an energy-efficient control in a Networked Control System with application to Unmanned Ground Vehicles

Antonio Gonzalez, Angel Cuenca, Julian Salt, Jelle Jacobs

TL;DR

The robust stability against time-varying model uncertainties is analyzed by means of a sufficient condition based on Linear Matrix Inequalities (LMI) and the effectiveness of the proposed approach is experimentally validated in a tracking control for an Unmanned Ground Vehicle (UGV), which is a battery-constrained mobile device with limited computation capacities.

Abstract

In this paper, the robust stability and disturbance rejection performance analysis of an energy-efficient control is addressed in the framework of Networked Control System (NCS). The control scheme under study integrates periodic event-triggered control, packet-based control, time-varying Kalman filter, dual-rate control and prediction techniques, whose design is aimed at reducing energy consumption and bandwidth usage. The robust stability against time-varying model uncertainties is analyzed by means of a suficient condition based on Linear Matrix Inequalities (LMI). Finally, the effectiveness of the proposed approach is experimentally validated in a tracking control for an Unmanned Ground Vehicle (UGV), which is a battery-constrained mobile device with limited computation capacities.

Robust stability analysis of an energy-efficient control in a Networked Control System with application to Unmanned Ground Vehicles

TL;DR

The robust stability against time-varying model uncertainties is analyzed by means of a sufficient condition based on Linear Matrix Inequalities (LMI) and the effectiveness of the proposed approach is experimentally validated in a tracking control for an Unmanned Ground Vehicle (UGV), which is a battery-constrained mobile device with limited computation capacities.

Abstract

In this paper, the robust stability and disturbance rejection performance analysis of an energy-efficient control is addressed in the framework of Networked Control System (NCS). The control scheme under study integrates periodic event-triggered control, packet-based control, time-varying Kalman filter, dual-rate control and prediction techniques, whose design is aimed at reducing energy consumption and bandwidth usage. The robust stability against time-varying model uncertainties is analyzed by means of a suficient condition based on Linear Matrix Inequalities (LMI). Finally, the effectiveness of the proposed approach is experimentally validated in a tracking control for an Unmanned Ground Vehicle (UGV), which is a battery-constrained mobile device with limited computation capacities.
Paper Structure (21 sections, 1 theorem, 62 equations, 12 figures, 1 table)

This paper contains 21 sections, 1 theorem, 62 equations, 12 figures, 1 table.

Table of Contents

  1. Introduction
  2. Problem statement and preliminaries
  3. Proposed control scheme
  4. Event-triggered protocol for transmission of measurement data
  5. Event-triggered protocol for transmission of control actions
  6. Time-Varying Dual-Rate Kalman Filter (TVDRKF)
  7. Dual-rate controller:
  8. Stability analysis
  9. State-space description
  10. Plant model
  11. Time-Varying Dual-Rate Kalman Filter
  12. Slow-rate controller
  13. Fast-rate controller:
  14. Closed-loop system
  15. Robust stability analysis of the proposed NCS design
  16. ...and 6 more sections

Key Result

Theorem 1

Given scalars $\sigma_u, \sigma_y \geq 0$, system eq:intercon is robustly stable if there exist symmetric matrices $P \in \mathcal{R}^{\bar{n}}, \Omega_u \in \mathcal{R}^m, \Omega_y \in \mathcal{R}^q > 0$ with $\bar{n}=n+h N (m + n) +N n_{\xi}+n_{\eta}$ and a scalar $\varepsilon>0$ such that the fol where $A_{\phi}, B_{\phi}, E_{\phi} ,H_{\phi},$ are defined in eq:intercon_matrices, and Moreover,

Figures (12)

  • Figure 1: Proposed control scheme for the NCS
  • Figure 2: Structure of the Time-Varying Dual-Rate Kalman Filter
  • Figure 3: Dual-rate controller scheme
  • Figure 4: Structure of the reference generator, including Pure Pursuit
  • Figure 5: Robust index $\delta_{\Delta}$ with respect to the maximum number of consecutive measurement packet dropouts $h$
  • ...and 7 more figures

Theorems & Definitions (5)

  • Remark 1
  • Remark 2
  • Theorem 1
  • Remark 3
  • Remark 4