DESIGN AND EXPERIMENTAL VERIFICATION OF STATE PREDICTIVE LQG CONTROLLERS FOR NETWORKED CONTROL SYSTEMS

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International Journal on Smart Sensing and Intelligent Systems

Professor Subhas Chandra Mukhopadhyay

Exeley Inc. (New York)

Subject: Computational Science & Engineering, Engineering, Electrical & Electronic

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VOLUME 7 , ISSUE 3 (September 2014) > List of articles

DESIGN AND EXPERIMENTAL VERIFICATION OF STATE PREDICTIVE LQG CONTROLLERS FOR NETWORKED CONTROL SYSTEMS

Takehito Azuma * / Takehito Azuma *

Keywords : Networked control systems, linear time-delay systems, input-time delays, state predictive control.

Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 7, Issue 3, Pages 1,201-1,220, DOI: https://doi.org/10.21307/ijssis-2017-701

License : (CC BY-NC-ND 4.0)

Received Date : 30-June-2014 / Accepted: 01-August-2014 / Published Online: 01-September-2014

ARTICLE

ABSTRACT

This paper considers a design problem of controllers for wire-less vehicles in the developed
networked control system. The developed system consists of a wire-less vehicle and some computers
which configure a computer network. The vehicle is controlled over the computer network. One of the
computers is a router which has an active queue management mechanism to keep the queue size
constant and to control congestion in the computer network. The dynamics of the vehicle over the
computer network can be described as linear systems with an input time-delay. State predictive LQG
controllers are designed to achieve the stability and better performances of the vehicle over the
computer network. The efficacy of the designed controller is demonstrated in a numerical example and
an experiment using the developed networked control system.

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