| Type of Document |
Dissertation |
| Author |
Tipsuwan, Yodyium , |
| Author's Email Address |
yyt@ku.ac.th |
| URN |
etd-08282003-105850 |
| Title |
Gain Scheduling for Networked Control System |
| Degree |
PhD |
| Graduate Program |
Electrical Engineering |
| Advisory Committee |
| Advisor Name |
Title |
| Mo-Yuen Chow |
Committee Chair |
| Douglas S. Reeves |
Committee Member |
| Griff L. Bilbro |
Committee Member |
| Hamid Krim |
Committee Member |
|
| Keywords |
- Internet
- delay analysis
- delay compensation
- control systems
- DC motors
- distributed control
- real time system
- mobile robots
- telerobotics
- networks
- factory automation
- distributed control
- adaptive control
- communication control applications
- communication networks
- communication protocols
|
| Date of Defense |
2003-08-04 |
| Availability |
unrestricted |
Abstract
Performances of closed-loop control systems operated over a data network are typically degraded by network-induced delays. Furthermore, the closed-loop control systems can become unstable. The purpose of this research has been to develop a control methodology to handle network-induced delay effects using optimal gain scheduling on existing controllers. The proposed gain scheduling technique adapts controller gains externally by modifying a controller output to enable the controller for uses over a data network. Since existing controllers can still be utilized, the proposed methodology can reduce control system reinstallation and replacement costs. First, the effectiveness of the proposed gain scheduling technique on networked DC motor speed control using a PI (Proportional-Integral) controller is investigated. Also, the concept of network traffic condition measurement to select optimal controller gains is presented. Then, a middleware framework to measure network traffic conditions on an IP network based on delays and delay variations and to modify controller gains is described. Suggestion of using neural network in the gain scheduling scheme is also given. Finally, the gain scheduling technique with the middleware framework is then extended to mobile robot path-tracking control.
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| Filename |
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Approximate Download Time
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56K Modem |
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etd.pdf |
1.72 Mb |
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