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Network-Based Modeling and Proportional-Integral Control for Direct-Drive-Wheel Systems in Wireless Network
IEEE Transactions on Cybernetics
|July 12, 2019
Summary
This study presents a network-based proportional-integral (PI) control model for direct-drive-wheel systems, accounting for network delays and packet loss. It ensures system stability and optimal performance using advanced control techniques and optimization algorithms.
Area of Science:
- Control Systems Engineering
- Networked Systems
- Robotics
Background:
- Wireless networked systems require robust control strategies to handle network-induced uncertainties.
- Direct-drive-wheel systems benefit from simplified configuration and reduced cabling through network integration.
Purpose of the Study:
- To develop a novel network-based model for proportional-integral (PI) control of continuous-time direct-drive-wheel systems.
- To analyze and ensure exponential mean-square stability and H∞ performance under network-induced delays and packet dropouts.
- To present an algorithm for optimizing PI control parameters and achieving minimum H∞ performance.
Main Methods:
- Modeling the PI control system as a stochastic impulsive system with artificial delays and reset equations.
- Utilizing discontinuous Lyapunov-Krasovskii functionals and linear matrix inequalities (LMIs) to derive stability and performance conditions.
- Employing a particle swarm optimization (PSO) algorithm to determine optimal control parameters.
Main Results:
- Derived less conservative exponential mean-square stability and H∞ performance conditions.
- Developed an algorithm to find minimum H∞ performance and corresponding PI control parameters.
- Validated the proposed methods through simulations on a ZigBee-based network platform.
Conclusions:
- The proposed network-based PI control approach effectively addresses challenges in wireless networked systems.
- The derived stability and performance conditions are applicable to general continuous-time linear systems.
- The study provides a validated framework for robust control of direct-drive-wheel systems in network environments.
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