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Dong Yue - One of the best experts on this subject based on the ideXlab platform.
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event based fault detection for networked systems with Communication Delay and nonlinear perturbation
Journal of The Franklin Institute-engineering and Applied Mathematics, 2013Co-Authors: Jinliang Liu, Dong YueAbstract:Abstract This paper is concerned with the event-based fault detection for the networked systems with Communication Delay and nonlinear perturbation. We propose an event-triggered scheme, which has some advantages over existing ones. The sensor data is transmitted only when the specified event condition involving the sampled measurements of the plant is violated. An event-based fault detection model is firstly constructed by taking the effect of event-triggered scheme and the network transmission Delay into consideration. The main purpose of this paper is to design an event-based fault detection filter such that, for all unknown input, Communication Delay and nonlinear perturbation, the error between the residual signal and the fault signal is made as small as possible. Sufficient conditions for the existence of the desired fault detection filter are established in terms of linear matrix inequalities. Based on these conditions, the explicit expression is given for the designed fault detection filter parameters. A numerical example is employed to illustrate the advantage of the introduced event-triggered scheme and the effectiveness of the proposed method.
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Communication Delay distribution dependent decentralized control for large scale systems with ip based Communication networks
IEEE Transactions on Control Systems and Technology, 2013Co-Authors: Chen Peng, Qinglong Han, Dong YueAbstract:This paper investigates the decentralized control for a large-scale system with an IP-based Communication network. The decentralized controller design specifically takes the nonuniform Communication-Delay-distribution characteristic of the IP-based Communication network into account. First, a networked decentralized control modeling for the large-scale system is proposed. The two main points are: 1) a decentralized controller is designed, which does not depend on the full-order state of the system and 2) the nonuniform Communication-Delay-distribution characteristic of the IP-based Communication network is fully considered in the controller design. Second, if the probability distribution of Communication Delay is known a priori in the design process, sufficient stability and stabilization conditions for the networked large-scale system are derived in terms of linear matrix inequalities. It shows that, the solvability of the design depends not only on the probability distribution of the Communication Delay but also on the network topology. Finally, the design method is applied to two pendulums coupled by a spring and a quadruple-tank process. Simulation results demonstrate the effectiveness of the proposed method.
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event based h filtering for networked system with Communication Delay
Signal Processing, 2012Co-Authors: Dong YueAbstract:This paper is concerned with the problem of event-based H"~ filtering for networked systems with Communication Delay (or signal transmission Delay). We first propose a novel event-triggering scheme upon which the sensor data is transmitted only when the specified event condition involving the sampled measurements of the plant is violated. By using Delay system approach, a new model of filtering error system with state Delay is formulated where the Communication Delay and event-triggering scheme are dealt with in a unified framework for networked systems. Then, by utilizing the Lyapunov-Krasovskii functional method plus free weighting matrix technique, sufficient conditions for ensuring the exponential stability as well as prescribed H"~ performance for the filtering error system are derived in the form of linear matrix inequalities (LMIs). Based on these conditions, the explicit expression is given for the desired filter parameters. Finally, an illustrative example is presented to show the advantage of introducing the event-triggering scheme and the effectiveness of the proposed theoretical results.
Chen Peng - One of the best experts on this subject based on the ideXlab platform.
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event triggered Communication and h control co design for networked control systems
Automatica, 2013Co-Authors: Chen Peng, Taicheng YangAbstract:This paper studies an event-triggered Communication scheme and an H"~ control co-design method for networked control systems (NCSs) with Communication Delay and packet loss. First, an event-triggered Communication scheme and a sampled-state-error dependent model for NCSs are presented. In this scheme and model, (a) the sensor takes samples in a periodic manner; (b) a triggering condition is applied to the sampled signal to determine whether a signal is transmitted to the controller or not; and (c) the closed-loop system with a networked state feedback controller is modeled as a time-Delay system. Secondly, by constructing a novel Lyapunov-Krasovskii functional, three theorems for the system asymptotical stability subject to imperfect Communications are derived. Thirdly, a new algorithm is developed for the triggering condition and the controller feedback gain to meet the specified performance. This design algorithm is based on the two permissible limits on the signal transfer. These limits are: the maximum allowable Communication Delay bound and the maximum allowable number of successive packet losses, respectively. Finally, the proposed co-design method is demonstrated by two numerical examples.
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Communication Delay distribution dependent decentralized control for large scale systems with ip based Communication networks
IEEE Transactions on Control Systems and Technology, 2013Co-Authors: Chen Peng, Qinglong Han, Dong YueAbstract:This paper investigates the decentralized control for a large-scale system with an IP-based Communication network. The decentralized controller design specifically takes the nonuniform Communication-Delay-distribution characteristic of the IP-based Communication network into account. First, a networked decentralized control modeling for the large-scale system is proposed. The two main points are: 1) a decentralized controller is designed, which does not depend on the full-order state of the system and 2) the nonuniform Communication-Delay-distribution characteristic of the IP-based Communication network is fully considered in the controller design. Second, if the probability distribution of Communication Delay is known a priori in the design process, sufficient stability and stabilization conditions for the networked large-scale system are derived in terms of linear matrix inequalities. It shows that, the solvability of the design depends not only on the probability distribution of the Communication Delay but also on the network topology. Finally, the design method is applied to two pendulums coupled by a spring and a quadruple-tank process. Simulation results demonstrate the effectiveness of the proposed method.
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Communication Delay distribution dependent networked control for a class of t s fuzzy systems
IEEE Transactions on Fuzzy Systems, 2010Co-Authors: Chen Peng, Taicheng YangAbstract:This paper investigates a robust networked control for a class of Takagi-Sugeno (T-S) fuzzy systems. The controller design specifically takes probabilistic interval distribution of the Communication Delay into account. A general framework of networked control is first proposed. The two main features are 1) the zero-order hold can choose the latest control input signal when the packets received are out-of-order, and 2) as the result of 1), the models of the all kinds of uncertainties in networked signal transfer-including network-induced Delay and data packet dropout-are under a unified framework. Next, if the probability distribution of Communication Delay is known or specified in a design process, sufficient stability conditions for networked T-S fuzzy systems are derived, which are based on the Lyapunov theory. Following this, a stabilizing controller design method is developed, which shows that the solvability of the design depends not only on the upper and lower bounds of the Delay but on its probability distribution as well. Finally, a numerical example is used to show the application of the theoretical results obtained in this paper.
Carsten Preusche - One of the best experts on this subject based on the ideXlab platform.
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a passive bilateral control scheme for a teleoperator with time varying Communication Delay
Mechatronics, 2010Co-Authors: Jeehwan Ryu, Jordi Artigas, Carsten PreuscheAbstract:In this paper, a passive bilateral control scheme is proposed for a teleoperator with time-varying Communication Delay. Recently proposed two-port time-domain passivity approach (TDPA), which composed of Passivity Observer (PO) and Passivity Controller (PC), is extended. A set of sufficient conditions is derived, which satisfies the passivity of the two-port Delayed network system, by separating the input and output energy at each port. This condition satisfies the passivity of the network system independent of the amount of Delay, its variation and lost packet. Two PCs are designed at each port based on its causality to guarantee the passivity condition. In order to filter out the sudden force change of the PC, a passive virtual dynamic system, composed of virtual mass and spring, is inserted between the master and the PC. Even under a large time-Delay with variation and Communication blackout, the proposed approach can guarantee passive bilateral teleoperation.
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stable bilateral control of teleoperators under time varying Communication Delay time domain passivity approach
International Conference on Robotics and Automation, 2007Co-Authors: Jeehwan Ryu, Carsten PreuscheAbstract:In this paper, modified two-port time-domain passivity approach is proposed for stable bilateral control of teleoperators under time-varying Communication Delay. We separate input and output energy at each port of a bilateral controller, and propose a sufficient condition for satisfying the passivity of the bilateral controller including time-Delay. Output energy at the master port should be less than the transmitted input energy from the slave port with time-Delay, and output energy at the slave port should be less than the transmitted input energy from the master port with time-Delay. For satisfying above two conditions, two passivity controllers are attached at each port of the bilateral controller. Teleoperation experiment with about 120 (msec) of time-Delay each way is performed. Stable teleoperation is achieved in free motion and hard contact as well.
Huanshui Zhang - One of the best experts on this subject based on the ideXlab platform.
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consensus conditions for general second order multi agent systems with Communication Delay
Automatica, 2017Co-Authors: Wenying Hou, Huanshui ZhangAbstract:This paper studies the consensus problem for a class of general second-order multi-agent systems (MASs) with Communication Delay. We first consider the Delay-free case and obtain a necessary and sufficient condition for consensus. Then, based on the obtained conditions for the Delay-free case, we deduce an explicit formula for the Delay margin of the consensus for the case with time Delay using the relationship between the roots of the characteristic equation and the time Delay parameter. In addition, we consider the special case where the second-order model is a double integrator. For this case, simpler consensus conditions under Communication Delay are provided.
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consensusability of multi agent systems with time varying Communication Delay
Systems & Control Letters, 2014Co-Authors: Zhenhua Wang, Huanshui ZhangAbstract:Abstract This paper studies the consensusability problem of continuous-time multi-agent systems with time-varying Communication Delay in undirected network. We design a consensus protocol based on the low gain solution of a parametric algebraic Riccati equation (ARE) and not use the precise information of the amount of time-varying Delay. By studying the joint effect of agent dynamic and network topology, sufficient conditions are given for consensus when all poles of the system matrix are on the closed left-half plane. In case of non-zero poles on the imaginary axis, maximal admissible upper bound of the time-varying Delay is given in terms of both the agent dynamic and network topology; otherwise, consensus can be achieved for the time-varying Delay with arbitrarily large upper bound. Finally, simulation results are presented to demonstrate the effectiveness of the theoretical results.
Taicheng Yang - One of the best experts on this subject based on the ideXlab platform.
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event triggered Communication and h control co design for networked control systems
Automatica, 2013Co-Authors: Chen Peng, Taicheng YangAbstract:This paper studies an event-triggered Communication scheme and an H"~ control co-design method for networked control systems (NCSs) with Communication Delay and packet loss. First, an event-triggered Communication scheme and a sampled-state-error dependent model for NCSs are presented. In this scheme and model, (a) the sensor takes samples in a periodic manner; (b) a triggering condition is applied to the sampled signal to determine whether a signal is transmitted to the controller or not; and (c) the closed-loop system with a networked state feedback controller is modeled as a time-Delay system. Secondly, by constructing a novel Lyapunov-Krasovskii functional, three theorems for the system asymptotical stability subject to imperfect Communications are derived. Thirdly, a new algorithm is developed for the triggering condition and the controller feedback gain to meet the specified performance. This design algorithm is based on the two permissible limits on the signal transfer. These limits are: the maximum allowable Communication Delay bound and the maximum allowable number of successive packet losses, respectively. Finally, the proposed co-design method is demonstrated by two numerical examples.
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Communication Delay distribution dependent networked control for a class of t s fuzzy systems
IEEE Transactions on Fuzzy Systems, 2010Co-Authors: Chen Peng, Taicheng YangAbstract:This paper investigates a robust networked control for a class of Takagi-Sugeno (T-S) fuzzy systems. The controller design specifically takes probabilistic interval distribution of the Communication Delay into account. A general framework of networked control is first proposed. The two main features are 1) the zero-order hold can choose the latest control input signal when the packets received are out-of-order, and 2) as the result of 1), the models of the all kinds of uncertainties in networked signal transfer-including network-induced Delay and data packet dropout-are under a unified framework. Next, if the probability distribution of Communication Delay is known or specified in a design process, sufficient stability conditions for networked T-S fuzzy systems are derived, which are based on the Lyapunov theory. Following this, a stabilizing controller design method is developed, which shows that the solvability of the design depends not only on the upper and lower bounds of the Delay but on its probability distribution as well. Finally, a numerical example is used to show the application of the theoretical results obtained in this paper.