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The adaptive control speed algorithm, developed in this paper, adapts the control performance according to the communication quality of service in a networked control system. The adaptive control speed algorithm is distributed among several control loops, all sharing a bandwidth limited network. The target is to adjust the control speed and sampling interval of all the control loops, such that the...
This paper presents the PiccSIM Toolchain: a graphical user interface with design tools for the network and control co-simulation platform PiccSIM. The proposed tool-chain enables easy network and control design and improved co-simulation via an integrated graphical user interface. It supports implementation of the simulated algorithms on actual wireless sensor network nodes. The developments presented...
Wireless controls offer attractive features including flexibility, self-organization, and dynamic networking, especially in mobile control scenarios. At the same time, wireless controls pose new design challenges because network and control performance affect each other. We focus our study on a wireless, mobile, multihop, robot-control scenario and compare the applicability of standard routing protocols...
This paper develops an adaptive controller for (wireless) networked control systems by combining delay estimation and a jitter margin based PID controller tuning. A control system with wireless measurement is assumed, where the network induces delay jitter. Two delay jitter estimation algorithms are developed, with a method for selecting only valid delay estimates. The delay jitter adaptive PID controller...
This paper deals with control during breaking communications. We specifically examine the breaks of communication due to mobility in a wireless multihop robot control system. We compare the applicability of single path and multipath routing protocols without and with priorization for control of mobile robots. We investigate the performance and recovery of a wireless network with high mobility. The...
In this paper we propose a novel reactive multi-path routing protocol for wireless (and vehicular) ad-hoc networks. The proposed scheme tries to establish and maintain local multiple paths to a certain destination, instead of finding multiple global paths between the source and destination nodes as most other multipath solutions do. To achieve this, we adopt and modify the well-known reactive routing...
This paper presents several measurement filtering schemes that are implemented on a laboratory-scale trolley crane system. An ultrasound measurement system for the load angle is implemented, and problems related to the filtering of ultrasound and load angle estimation using Kalman filters are discussed. The filtering stages at the ultrasound pulse detection are explained and the performance of two...
As the use of computer networks grows rapidly, applications, such as networked control systems (NCS), have emerged. NCS suffer from varying time-delays that bring new problems to the control loop. This paper discusses tuning of a discrete-time PID controller for NCS. A discrete-time PID controller is selected as a controller, because it is widely used in industry. Minimising of a cost function is...
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