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http://dx.doi.org/10.14372/IEMEK.2011.6.3.5

Compensating Transmission Delay and Packet Loss in Networked Control System for Unmanned Underwater Vehicle  

Yang, Inseok (경북대학교 산업응용수학과)
Kang, Sun-Young (LG전자)
Lee, Dongik (경북대학교 IT대학)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.6, no.3, 2011 , pp. 149-156 More about this Journal
Abstract
Transmission delay and packet loss induced by a communication network can degrade the control performance and, even make the system unstable. This paper presents a method for compensating transmission delay and packet loss in a networked control system for unmanned underwater vehicle. The proposed method is based on Lagrange interpolation in order to satisfy the requirements of simplicity and model-independency. In this work, the lost/delayed data are estimated in real time by only using the past data without requiring any mathematical model of the controlled system. Consequently, the proposed method can be implemented independent of the controlled system, and also it can achieve fast and accurate compensation performance. The performance of the proposed technique is evaluated by numerical simulations with an unmanned underwater vehicle.
Keywords
Networked control system; Lagrange interpolation; Transmission delay; Packet loss; Unmanned underwater vehicle;
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Times Cited By KSCI : 1  (Citation Analysis)
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