International Journal of Control, Automation, and Systems

  • 제6권4호
  • /
  • Pages.596-606
  • /
  • 2008
  • /
  • 1598-6446(pISSN)
  • /
  • 2005-4092(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

Optimal Bandwidth Allocation and QoS-adaptive Control Co-design for Networked Control Systems

  • Ji, Kun (Siemens Technology to Business Center, 1995 University Ave.) ;
  • Kim, Won-Jong (Department of Mechanical Engineering, Texas A&M University, College Station)
  • 발행 : 2008.08.31
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, we present a co-design methodology of dynamic optimal network-bandwidth allocation (ONBA) and adaptive control for networked control systems (NCSs) to optimize overall control performance and reduce total network-bandwidth usage. The proposed dynamic co-design strategy integrates adaptive feedback control with real-time scheduling. As part of this co-design methodology, a "closed-loop" ONBA algorithm for NCSs with communication constraints is presented. Network-bandwidth is dynamically assigned to each control loop according to the quality of performance (QoP) information of each control loop. As another part of the co-design methodology, a network quality of service (QoS)-adaptive control design approach is also presented. The idea is based on calculating new control values with reference to the network QoS parameters such as time delays and packet losses measured online. Simulation results show that this co-design approach significantly improves overall control performance and utilizes less bandwidth compared to static strategies.

키워드

참고문헌

  1. Y. Tipsuwan and M.-Y. Chow, "Control methodologies in networked control systems," Control Engineering Practice, vol. 11, no. 10, pp. 1099-1111, Feb. 2003 https://doi.org/10.1016/S0967-0661(03)00036-4
  2. G. F. Franklin, J. D. Powell, and M. L. Workman, Digital Control of Dynamic Systems, 5th ed. Reading, Addison-Wesley, MA, 2006
  3. F.-L. Lian, J. Moyne, and D. Tilbury, "Network design consideration for distributed control systems," IEEE Trans. on Control Systems Technology, vol. 10, no. 2, pp. 297-306, Mar. 2002 https://doi.org/10.1109/87.987076
  4. K. Ji and W. -J. Kim, "Real-time control of networked control systems via Ethernet," International Journal of Control, Automation, and Systems, vol. 3, no. 4, pp. 591-600, Dec. 2005
  5. S. H. Hong, "Scheduling algorithm of data sampling times in the integrated communication and control systems," IEEE Trans. on Control Systems Technology, vol. 3, no. 6, pp. 225-230, June 1995 https://doi.org/10.1109/87.388131
  6. S. H. Hong and Y. C. Kim, "Implementation of a bandwidth allocation scheme in a token-passing fieldbus network," IEEE Trans. on Instrument and Measurement, vol. 51, no. 2, pp. 246-251, Apr. 2002 https://doi.org/10.1109/19.997820
  7. M. S. Branicky, S. M. Phillips, and W. Zhang "Scheduling and feedback co-design for networked control systems," Proc. of IEEE Conference on Decision and Control, Las Vegas, pp. 1211-1217, Dec. 2002
  8. A. Cervin, J. Eker, B. Bernhardsson, and K.-E. Arzen, "Feedback-feedforward scheduling of control tasks," Journal of Real-Time Systems, vol. 23, no. 2, pp. 25-53, 2002 https://doi.org/10.1023/A:1015394302429
  9. J. Yepez, P. Marti, and J. M. Fuertes, "Control loop scheduling paradigm in distributed control systems," Proc. of the 29th IECON, Roanoke, USA, Nov. 2003
  10. G. C. Walsh and H. Ye, "Scheduling of networked control systems," IEEE Control Systems Magazine, vol. 21, no. 1, pp. 57-65, Feb. 2001 https://doi.org/10.1109/37.898792
  11. H. Rehbinder and M. Sanfridson. "Scheduling of a limited communication channel for optimal control," Automatica, vol. 40, no. 3, pp. 491-500, Mar. 2004 https://doi.org/10.1016/j.automatica.2003.10.022
  12. H. S. Park, Y. H. Kim, D.-S. Kim, and W. H. Kwon, "A scheduling method for network-based control systems," IEEE Trans. on Control Systems Technology, vol. 10, no. 3, pp. 318-330, May 2002 https://doi.org/10.1109/87.998012
  13. M. Velasco, J. M. Fuertes, C. Lin, P. Martí, and S. Brandt, "A control approach to bandwidth management in networked control systems," Proc. of the 30th Annual Conference of the IEEE Industrial Electronics Society, pp. 2343-2348, Busan, Korea, Nov. 2004
  14. M. Velasco, P. Martí, and M. Frigola, "Bandwidth management for distributed control of hightly articulated robots," Proc. of IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 266-271, Apr. 2005
  15. A. Ray and Y. Halevi, "Integrated communication and control systems: part I-analysis and part II-design consideration," ASME Journal of Dynamic Systems Measurement and Control, vol. 110, no. 4, pp. 367-381, Dec. 1988 https://doi.org/10.1115/1.3152698
  16. P. Marti, J. Yepez, M.Velasco, R. Villa, and J. M. Fuertes, "Managing quality-of-control in network-based control systems by controller and message scheduling co-design," IEEE Trans. on Industrial Electronics, vol. 51, no. 6, pp. 1159- 1167, Dec. 2004 https://doi.org/10.1109/TIE.2004.837873
  17. "SIMATIC Standard PID Control Manual," Siemens AG, Edition Mar. 2004