Tracking control for networked control systems

N. Wouw, van de, P. Naghshtabrizi, M.B.G. Posthumus - Cloosterman, J.P. Hespanha

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

27 Citations (Scopus)
111 Downloads (Pure)

Abstract

A solution to the approximate tracking problem for networked control systems (NCSs) with uncertain, time-varying sampling intervals and network delays is presented. The uncertain, time-varying sampling and delays cause inexact feedforward, which induces a perturbation on the tracking error dynamics. Two alternative modeling approaches are used: a discrete-time model and a model in terms of delay impulsive differential equations. Sufficient conditions for the input-to-state stability (ISS) of the tracking error dynamics with respect to this perturbation are given. These ISS results provide bounds on the steady-state tracking error as a function of the plant properties, the controller parameters, and the network properties. The results are illustrated on a mechanical motion control example.
Original languageEnglish
Title of host publicationProceedings of the 46th IEEE Conference on Decision and Control (CDC 46), 12-14 December 2007, New Orleans, USA
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers
Pages4441-4446
DOIs
Publication statusPublished - 2007

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