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Adaptive Controller for Networked Control Systems Subjected to Random Communication Delays

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Book cover Soft Computing Applications (SOFA 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 633))

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Abstract

This paper presents an adaptive linear quadratic regulator (LQR) for networked control systems that varies its gains based on the estimates of the time-varying network delays. A sequential learning algorithm for minimum radial basis function neural network, called the minimum resource allocation network (MRAN) is used to estimate the time delays on-line. The proposed delay estimation technique provides accurate estimates of the delays considering various channel conditions such as length of the channel, contention, loading, and the number of inputs-outputs connected to the controller among others. Then the adaptive controller gains are computed using the delay estimates. To compute the gains, LQR using the backward iteration algorithm is used and the stability conditions of the proposed controller are also studied.

The proposed adaptive controller is illustrated on simple examples using experiments conducted on Modbus over TCP/IP (Transmission Control Protocol/Internet Protocol) to model the network delays using MRAN for various loading conditions. Resulting adaptive controller is simple, yet optimal. Results indicate that the adaptive controller varies its gain to meet the regulation and tracking performance in the presence of random delays. The proposed estimation based adaptive controller is able to adapt its gain in real-time, while simultaneously estimating the delays considering the factors influencing delays in the channel.

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Acknowledgments

This work was supported by European Union through European Regional Development Fund and the Estonian Research Council grant PUT481.

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Authors and Affiliations

  1. International Research Center, Kalasalingam University, Anand Nagar, Krishanankoil, Srivilliputhur, Tamil Nadu, India

    Seshadhri Srinivasan & B. Subathra

  2. Department of Electrical and Computer Engineering, University of Gondar, Gondar, Ethiopia

    G. Saravanakumar

  3. Nanyang Technological University, Singapore, 639798, Singapore

    N. Sundarajan

  4. Institute of Cybernetics, Tallinn University of Technology, 12618, Tallinn, Estonia

    Ülle Kotta

  5. ABB Inc., Westlake, USA

    Srini Ramasamy

  6. Department of Automation and Applied Informatics, Aurel Vlaicu University of Arad, Arad, Romania

    Valentina Emilia Balas

Authors
  1. Seshadhri Srinivasan
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  2. G. Saravanakumar
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  3. B. Subathra
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  4. N. Sundarajan
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  5. Ülle Kotta
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  6. Srini Ramasamy
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  7. Valentina Emilia Balas
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Corresponding author

Correspondence to Seshadhri Srinivasan .

Editor information

Editors and Affiliations

  1. Department of Automatics and Applied Informatics, Faculty of Engineering, Aurel Vlaicu University of Arad, Arad, Romania

    Valentina Emilia Balas

  2. University of Canberra, Canberra, Aust Capital Terr, Australia

    Lakhmi C. Jain

  3. Department of Automatics and Applied Informatics, Faculty of Engineering, Aurel Vlaicu University of Arad, Arad, Romania

    Marius Mircea Balas

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Srinivasan, S. et al. (2018). Adaptive Controller for Networked Control Systems Subjected to Random Communication Delays. In: Balas, V., Jain, L., Balas, M. (eds) Soft Computing Applications. SOFA 2016. Advances in Intelligent Systems and Computing, vol 633. Springer, Cham. https://doi.org/10.1007/978-3-319-62521-8_8

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  • DOI: https://doi.org/10.1007/978-3-319-62521-8_8

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-62520-1

  • Online ISBN: 978-3-319-62521-8

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