We propose a gain scheduler middleware (GSM) module, for use in IP network-based control applications. The network traffic estimator (NTE) module of GSM must provide good estimation of the real-time network delay in o...
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We propose a gain scheduler middleware (GSM) module, for use in IP network-based control applications. The network traffic estimator (NTE) module of GSM must provide good estimation of the real-time network delay in order for the overall IP network-based control to provide satisfactory results. In this paper, we demonstrate the advantages of the NTE module vs. non-delay estimation control. Five delay estimation models are introduced and compared by using three typical network delay datasets. A network-based control of an unmanned ground vehicle (UGV) path-tracking problem is used to illustrate the performance of the NTE model. Simulation results show that the generalized exponential model outperforms the other models on the three criteria, including the UGV tracking error, travelling time and the computation time of the estimation model.
Intelligent Space (iSpace) is a space (room, corridor, or street), which has distributed sensory and mobile agents, that is capable to provide intelligent services. In this paper, experimental setup between Hashimoto ...
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Intelligent Space (iSpace) is a space (room, corridor, or street), which has distributed sensory and mobile agents, that is capable to provide intelligent services. In this paper, experimental setup between Hashimoto Lab, University of Tokyo, Japan and advanceddiagnosisautomation and control (ADAC) Lab, North Carolina State University, USA is prepared to form an Inter-Continental Intelligent Space. A mobile robot at Hashimoto Lab is controlled by a path-tracking controller at ADAC Lab to track a predefined path with the tracking performance affected by the network time delay. Gain Scheduler Middleware is employed in the control loop to alleviate the effect of time delay. The experimental results of the mobile robot path-tracking has demonstrated the effectiveness of using Gain Scheduler Middleware to compensate the time-delay effect on teleoperation over IP network.
This paper characterizes the performance of a feedback preprocessor (FP) that is used to alleviate the effect of the delay time on an unmanned ground vehicle (UGV) path tracking problem in network-based control (NBC) ...
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This paper characterizes the performance of a feedback preprocessor (FP) that is used to alleviate the effect of the delay time on an unmanned ground vehicle (UGV) path tracking problem in network-based control (NBC) environment. The FP estimates the UGV state in order to compensate for the effect of a constant time delay induced by the network. The FP technique can be implemented as an external module appending to an existing nonlinear control system without having to redesign the controller. This technique uses the plant dynamics to estimate the future state of the plant under network-based control. The overall NBC system performance is investigated via simulation in terms of UGV system dynamics responses and network time delay magnitudes. The approach and result in this paper can be used to estimate the performance of any similar UGV operating in an NBC environment. An intermediate parameter, UGV response time, may be used to relate the result in this paper to other UGV in general.
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