Advertisement

Journal of Intelligent & Robotic Systems

, Volume 83, Issue 1, pp 71–83 | Cite as

Internet-Based Control of Industrial Automation Systems

  • Behrooz Rahmani
Article
  • 260 Downloads

Abstract

This paper presents a new method for Internet-based control of linear automation systems by combining the predictive control and the variable sampling period strategies. In this way, event driven sensors are implemented and the sensors are triggered to sample the outputs of the plant, when new control input signals are received by the actuators. Therefore, at each sampling instant, total control loop delay will be equal to the sampling period which is unknown. In order to deal with Internet effects, associated with a range of pre-specified time delays, appropriate zero-order hold discrete-time models of the Internet-based plant are calculated off-line, and based on them, some stabilizing control signals are constructed on-line. This control signals are then packed in the control-side packet, transmitted back to the plant-side and received by a time delay compensator module. According to the actually occurred time delay in the loop, this module selects a single entry of the received control vector for each actuator, and applies them to the plant, through zero-order hold elements. Simultaneously, the sensors are triggered to measure the new plant data, the plant-side packet is assembled and transmitted to the control-side. The above procedure is then repeated from start. A less conservative switched quadratic Lyapunov is used here for stabilizing controller design. Simulation studies on well-known benchmark problems demonstrate the effectiveness of the proposed method.

Keywords

Internet-based control Industrial automation systems Switching observer-based controller Bandlimited networks 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Hashemzadeh, F., Hassanzadeh, I., Tavakoli, M., Alizadeh, G.: Adaptive control for state synchronization of nonlinear haptic telerobotic systems with asymmetric varying time delays. J. Intell. Robot. Syst. 68(3-4), 245–259 (2012)CrossRefMATHGoogle Scholar
  2. 2.
    Ferri, G., Jakuba, M., Yoerger, D.: A novel trigger-based method for hydrothermal vents prospecting using an autonomous underwater robot. Auton. Robot. 29(1), 67–83 (2010)CrossRefGoogle Scholar
  3. 3.
    Mahmoud, Y.X., Magdi, S., Nounou, H.: Robust dissipative control for internet-based switching systems. J. Franklin Inst. 347, 154–172 (2010)MathSciNetCrossRefMATHGoogle Scholar
  4. 4.
    Wang, K., Zhang, C., Xu, X., Ji, S., Yang, L.: A cnc system based on real-time ethernet and windows nt. Int. J. Adv. Manuf. Technol. 65(9-12), 1383–1395 (2013)CrossRefGoogle Scholar
  5. 5.
    deLacalle, N., Lamikiz, A. (eds.): Machine Tools for High Performance Machining. springer (2009)Google Scholar
  6. 6.
    Cremean, L.B., Foote, T.B., Gillula, J.H., Hines, G.H., Kogan, D., Kriechbaum, K.L., Lamb, J.C., Leibs, J., Lindzey, L., Rasmussen, C.E., Stewart, A.D., Burdick, J.W., Murray, R.M.: Alice: an information-rich autonomous vehicle for high-speed desert navigation. Journal of Field Robotics 23(9), 777–810 (2006)CrossRefGoogle Scholar
  7. 7.
    Xu, X., Xiong, Z., Wu, J., Zhu, X.: High-precision time synchronization in real-time ethernet-based cnc systems. Int. J. Adv. Manuf. Technol. 65(5-8), 1157–1170 (2013)CrossRefGoogle Scholar
  8. 8.
    Rahmani, B., markazi, A.H., Seyfi, B.: A new method for control of networked systems with an experimental verification. {ISA} Transactions 56(0), 299–307 (2015)CrossRefGoogle Scholar
  9. 9.
    Hu, Z., Ma, C., Zhang, L., Halme, A., Hayat, T., Ahmad, B.: Formation control of impulsive networked autonomous underwater vehicles under fixed and switching topologies, vol. 147. Advances in Self-Organizing Maps Subtitle of the special issue: Selected Papers from the Workshop on Self-Organizing Maps 2012 (WSOM 2012) (2015)Google Scholar
  10. 10.
    Zhu, X., Zhang, H., Cao, D., Fang, Z.: Robust control of integrated motor-transmission powertrain system over controller area network for automotive applications. Mech. Syst. Signal Process. 0 (2015)Google Scholar
  11. 11.
    Sun, S., Ma, J.: Linear estimation for networked control systems with random transmission delays and packet dropouts. Inf. Sci. 269(0), 349–365 (2014)MathSciNetCrossRefGoogle Scholar
  12. 12.
    van Loon, S., Donkers, M., van de Wouw, N., Heemels, W.: Stability analysis of networked and quantized linear control systems. Nonlinear Analysis: Hybrid Systems 10, 111–125 (2013)MathSciNetMATHGoogle Scholar
  13. 13.
    Goodwin, G., Garrido, M.C., Feuer, A., Mayne, D.Q.: On the use of one bit quantizers in networked control. Automatica 50(4), 1122–1127 (2014)MathSciNetCrossRefMATHGoogle Scholar
  14. 14.
    Gao, J., Ren, J., Bai, J.: Lq control for networked control systems with lossy links. Neurocomputing 145(0), 108–112 (2014)CrossRefGoogle Scholar
  15. 15.
    Liu, Y., Li, M.: An improved delay-dependent stability criterion of networked control systems. J. Frankl. Inst. 351(3), 1540–1552 (2014)MathSciNetCrossRefGoogle Scholar
  16. 16.
    Xiong, J., Lam, J.: Stabilization of linear systems over networks with bounded packet loss. Automatica 43, 80–87 (2007)MathSciNetCrossRefMATHGoogle Scholar
  17. 17.
    Liu, K., Fridman, E.: Wirtingers inequality and lyapunov-based sampled-data stabilization. Automatica 48, 102–108 (2012)MathSciNetCrossRefMATHGoogle Scholar
  18. 18.
    Hua, L., Baia, T., Shib, P., Wua, Z.: Sampled-data control of networked linear control systems. Automatica 43, 903–911 (2007)MathSciNetCrossRefGoogle Scholar
  19. 19.
    Dai, J.: A delay system approach to networked control systems with limited communication capacity. J. Frankl. Inst. 347(7), 1334–1352 (2010)MathSciNetCrossRefMATHGoogle Scholar
  20. 20.
    Suplin, V., Fridman, E., Shaked, U.: Sampled-data ℋ control and filtering: Nonuniform uncertain sampling. Automatica 43, 1072–1083 (2007)MathSciNetCrossRefMATHGoogle Scholar
  21. 21.
    Peng, C., Tian, Y., Yue, D.: Output feedback control of discrete-time systems in networked environments. IEEE Trans. Syst. Man Cybern. Syst. Hum. 41, 185–190 (2011)CrossRefGoogle Scholar
  22. 22.
    Tasikaraoglu, F.Y., Ucun, L., Kkdemiral, I.B.: Receding horizon ℋ control of time-delay systems. Trans. Inst. Meas. Control. 37(5), 596–605 (2015)CrossRefGoogle Scholar
  23. 23.
    Rahmani, B., Markazi, A.H.D.: Networked control of industrial automation systems a new predictive method. Int. J. Adv. Manuf. Technol. 58(5-8), 803–815 (2012)CrossRefGoogle Scholar
  24. 24.
    Mahmoud, M., Shi, P., Saif, A.: Stabilization of linear switched delay systems: H2 and h8 methods. J. Optim. Theory Appl. 142(3), 583–601 (2009)MathSciNetCrossRefMATHGoogle Scholar
  25. 25.
    Mahmoud, M.S., Shi, P.: Asynchronous ℋ filtering of discrete-time switched systems. Signal Process. 92(10), 2356–2364 (2012)CrossRefGoogle Scholar
  26. 26.
    Rahmani, B., Markazi, A.H.D.: Variable selective control method for networked control systems. IEEE transactions on Control System Technology 21(3), 975–982 (2013)CrossRefGoogle Scholar
  27. 27.
    Daafouz, J., Riedinger, P., Iung, C.: Stability analysis and control synthesis for switched systems: a switched lyapunov function approach. IEEE Trans. Autom. Control 47(11), 1883–1887 (2002)MathSciNetCrossRefGoogle Scholar
  28. 28.
    Lian, F.-L., Moyne, J., Tilbury, D.: Modelling and optimal controller design of networked control systems with multiple delays. Int. J. Control. 76(6), 591–606 (2003)MathSciNetCrossRefMATHGoogle Scholar
  29. 29.
    Zhang, W.-A., Yu, L.: Modelling and control of networked control systems with both network-induced delay and packet-dropout. Automatica 44(12), 3206–3210 (2008)MathSciNetCrossRefMATHGoogle Scholar
  30. 30.
    Cloosterman, M., van de Wouw, N., Heemels, W., Nijmeijer, H.: Stability of networked control systems with uncertain time-varying delays. IEEE Trans. Autom. Control 54, 1575–1580 (2009)MathSciNetCrossRefGoogle Scholar

Copyright information

© Springer Science+Business Media Dordrecht 2016

Authors and Affiliations

  1. 1.Mechanical Engineering DepartmentYasouj UniversityYasoujIran

Personalised recommendations