Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings 2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 227-232 |
| Number of pages | 6 |
| ISBN (electronic) | 9781665489188, 978-1-6654-8917-1 |
| ISBN (print) | 978-1-6654-8919-5 |
| Publication status | Published - 2022 |
| Event | 7th International Conference on Robotics and Automation Engineering, ICRAE 2022 - Singapore, Singapore Duration: 18 Nov 2022 → 20 Nov 2022 |
Publication series
| Name | 2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022 |
|---|
Abstract
Networked control systems are feedback control systems with system components distributed at different locations connected through a communication network. Since the communication network is carried out through the internet and there are bandwidth and packet size limitations, network constraints appear. Some of these constraints are time delay and packet loss. These network limitations can degrade the performance and even destabilize the system. To overcome the adverse effect of these communication constraints, various approaches have been developed, among which a representative one is networked predictive control. This approach proposes a controller, which compensates for the network time delay and packet loss actively. This paper aims at implementing a networked predictive control system for controlling a robot arm through a computer network. The network delay is accounted for by a predictor, while the potential of packet loss is mitigated using redundant control packets. The results will show the stability of the system despite a high delay and a considerable packet loss. Additionally, improvements to previous networked predictive control systems will be suggested and an increase in performance can be shown. Lastly, the effects of different system and environment parameters on the control loop will be investigated.
Keywords
- Networked predictive control systems, packet loss, time delay
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Computer Science Applications
- Engineering(all)
- Control and Systems Engineering
- Mathematics(all)
- Control and Optimization
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Proceedings 2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 227-232 (2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Performance Analysis of Universal Robot Control System Using Networked Predictive Control
AU - Noroozi, Mahsa
AU - Kies, Lorenz
PY - 2022
Y1 - 2022
N2 - Networked control systems are feedback control systems with system components distributed at different locations connected through a communication network. Since the communication network is carried out through the internet and there are bandwidth and packet size limitations, network constraints appear. Some of these constraints are time delay and packet loss. These network limitations can degrade the performance and even destabilize the system. To overcome the adverse effect of these communication constraints, various approaches have been developed, among which a representative one is networked predictive control. This approach proposes a controller, which compensates for the network time delay and packet loss actively. This paper aims at implementing a networked predictive control system for controlling a robot arm through a computer network. The network delay is accounted for by a predictor, while the potential of packet loss is mitigated using redundant control packets. The results will show the stability of the system despite a high delay and a considerable packet loss. Additionally, improvements to previous networked predictive control systems will be suggested and an increase in performance can be shown. Lastly, the effects of different system and environment parameters on the control loop will be investigated.
AB - Networked control systems are feedback control systems with system components distributed at different locations connected through a communication network. Since the communication network is carried out through the internet and there are bandwidth and packet size limitations, network constraints appear. Some of these constraints are time delay and packet loss. These network limitations can degrade the performance and even destabilize the system. To overcome the adverse effect of these communication constraints, various approaches have been developed, among which a representative one is networked predictive control. This approach proposes a controller, which compensates for the network time delay and packet loss actively. This paper aims at implementing a networked predictive control system for controlling a robot arm through a computer network. The network delay is accounted for by a predictor, while the potential of packet loss is mitigated using redundant control packets. The results will show the stability of the system despite a high delay and a considerable packet loss. Additionally, improvements to previous networked predictive control systems will be suggested and an increase in performance can be shown. Lastly, the effects of different system and environment parameters on the control loop will be investigated.
KW - Networked predictive control systems
KW - packet loss
KW - time delay
UR - http://www.scopus.com/inward/record.url?scp=85150174544&partnerID=8YFLogxK
U2 - 10.48550/arXiv.2207.08450
DO - 10.48550/arXiv.2207.08450
M3 - Conference contribution
AN - SCOPUS:85150174544
SN - 978-1-6654-8919-5
T3 - 2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022
SP - 227
EP - 232
BT - Proceedings 2022 7th International Conference on Robotics and Automation Engineering, ICRAE 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th International Conference on Robotics and Automation Engineering, ICRAE 2022
Y2 - 18 November 2022 through 20 November 2022
ER -