Output-feedback dynamic control over packet-switching networks

Abstract

When trying to stabilise a dynamical system under the assumption that every communication among the sensors, the actuators and the controller is carried out via a shared communication channel, network-induced constraints come into play. Among such constraints, we address: variable transfer intervals, time varying, large communication delays; non-simultaneous access to the network. In this paper, we devise a method for using an output-feedback dynamic controller whose design is carried out without taking into account the presence of the network. The stability of the resulting nonlinear networked control system is assessed. In order to corroborate the validity of the presented approach, the results of three experiments are presented. Each experiment is carried out using an Ethernet network as the communication medium. One of the experiments involves a real plant, while the remaining have been carried out with simulated plants.