Design of Passivity Based Cyber Physical System with Markovian Losses and Delay

摘要

Control of Cyber Physical systems (CPS) in presence of network uncertainty and complexity such as fixed delay or time varying delay, random packet loss, bandwidth limitation of network, traffic congestion are major challenges. In this paper, we have proposed a passive architecture of CPS, in which a passive dynamical plant is controlled by a passive physical PD controller via a passive wireless network in presence of markovian loss and delay due to passive behaviour of the plant and controller certain range of random losses and delay are not effecting the performance of the robot. Furthermore, we have used wave variable transformation to compensate the larger time delay, and wave variable encoder (WVE) decoder (WVD) to compensate second order markovian loss occuring in the communication network. Since the passivity of the transmitted signal between plant and controller is preserved, delay and losses does not effect the signal strength and its behaviour is smooth. We have validate our theory using simulation results.