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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2401.12172 |
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| _version_ | 1866908056318640128 |
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| author | Gonzalez, Antonio Cuenca, Angel Salt, Julian Jacobs, Jelle |
| author_facet | Gonzalez, Antonio Cuenca, Angel Salt, Julian Jacobs, Jelle |
| contents | In this paper, the robust stability and disturbance rejection performance analysis of an energy-efficient control is addressed in the framework of Networked Control System (NCS). The control scheme under study integrates periodic event-triggered control, packet-based control, time-varying Kalman filter, dual-rate control and prediction techniques, whose design is aimed at reducing energy consumption and bandwidth usage. The robust stability against time-varying model uncertainties is analyzed by means of a suficient condition based on Linear Matrix Inequalities (LMI). Finally, the effectiveness of the proposed approach is experimentally validated in a tracking control for an Unmanned Ground Vehicle (UGV), which is a battery-constrained mobile device with limited computation capacities. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_12172 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Robust stability analysis of an energy-efficient control in a Networked Control System with application to Unmanned Ground Vehicles Gonzalez, Antonio Cuenca, Angel Salt, Julian Jacobs, Jelle Systems and Control Optimization and Control In this paper, the robust stability and disturbance rejection performance analysis of an energy-efficient control is addressed in the framework of Networked Control System (NCS). The control scheme under study integrates periodic event-triggered control, packet-based control, time-varying Kalman filter, dual-rate control and prediction techniques, whose design is aimed at reducing energy consumption and bandwidth usage. The robust stability against time-varying model uncertainties is analyzed by means of a suficient condition based on Linear Matrix Inequalities (LMI). Finally, the effectiveness of the proposed approach is experimentally validated in a tracking control for an Unmanned Ground Vehicle (UGV), which is a battery-constrained mobile device with limited computation capacities. |
| title | Robust stability analysis of an energy-efficient control in a Networked Control System with application to Unmanned Ground Vehicles |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2401.12172 |