Real time control for wireless networked multi-channel systems with safe switching techniques
The aim of this thesis is to deploy and develop appropriate algorithms to overcome the problem of wireless remote control that is the presence of varying time delays imposed from wireless network communication between sensors and controller and between controller and actuators. From the technologica...
Αποθηκεύτηκε σε:
| Κύριοι συγγραφείς: | , |
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| Άλλοι συγγραφείς: | |
| Γλώσσα: | English |
| Δημοσίευση: |
2021
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| Θέματα: | |
| Διαθέσιμο Online: | http://hdl.handle.net/11610/21815 |
| Ετικέτες: |
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| Περίληψη: | The aim of this thesis is to deploy and develop appropriate algorithms to overcome the problem of wireless remote control that is the presence of varying time delays imposed from wireless network communication between sensors and controller and between controller and actuators. From the technological point of view the goal is to develop new communication infrastructure decreasing the delays. Although the communication delays will be provisionally smaller, they will remain time varying, unknown, and uncertain. The current approaches in the literature study this issue in this direction. In the present work, we move towards the opposite direction of the standard technological trends, using larger but constant delays. This thesis replay to two fundamental questions; will a multi delay controller, designed using the linear approximants of the original plant, perform satisfactory to a nonlinear plant with large but constant and known delays? Are there any significant applications justifying the proposed “opposite direction” approach? The design requirements of I/O decoupling and/or asymptotic disturbance rejection are successfully applied through a wireless network to some of the most representative applications in networked control systems a) electric motors, b) tower cranes, c) robotics and d) quadrotors. The significance of this study is that the above design requirements for networked control systems are met successfully for the first time. |
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