Networked Control Systems with Application in the Industrial Tele-Robotics

摘要

Networked Control Systems (NCS) are used for remote control of distributed or non- co-located systems where the control loop is closed via a communication link. Remote access to industrial robotic systems is one of the application fields where robustness and reliability of the closed loop plays a significant role. Caused by the communication chain in the control loop, there are challenging constraints that can affect the stability and performance of a closed loop. One can consider a large number of difficulties in this type of control systems, for instance unknown delay and packet drop-out. There are already a large number of methods and approaches to handle issues in the NCS and because of increasing interest of the industry, many are still being developed to improve the features of the closed loops over communication networks. This paper summarizes the existing theory of the networked control systems under communication constraints and presents an H∞ synthesis for a simple plant. Finally the results are illustrated, discussed and validated using real measurements from a robotic system.