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Title: Gain Scheduling for Networked Control System
Authors: Tipsuwan, Yodyium
Advisors: Griff L. Bilbro, Committee Member
Mo-Yuen Chow, Committee Chair
Hamid Krim, Committee Member
Douglas S. Reeves, Committee Member
Keywords: Internet
delay analysis
delay compensation
control systems
DC motors
distributed control
real time system
mobile robots
factory automation
distributed control
adaptive control
communication control applications
communication networks
communication protocols
Issue Date: 2-Dec-2003
Degree: PhD
Discipline: Electrical Engineering
Abstract: Performances of closed-loop control systems operated over a data network are typically degraded by network-induced delays. Furthermore, the closed-loop control systems can become unstable. The purpose of this research has been to develop a control methodology to handle network-induced delay effects using optimal gain scheduling on existing controllers. The proposed gain scheduling technique adapts controller gains externally by modifying a controller output to enable the controller for uses over a data network. Since existing controllers can still be utilized, the proposed methodology can reduce control system reinstallation and replacement costs. First, the effectiveness of the proposed gain scheduling technique on networked DC motor speed control using a PI (Proportional-Integral) controller is investigated. Also, the concept of network traffic condition measurement to select optimal controller gains is presented. Then, a middleware framework to measure network traffic conditions on an IP network based on delays and delay variations and to modify controller gains is described. Suggestion of using neural network in the gain scheduling scheme is also given. Finally, the gain scheduling technique with the middleware framework is then extended to mobile robot path-tracking control.
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