The paper deals with the stabilization of nonlinear systems in which the loop is closed over a lossy nonacknowledged communication network. Given a Regional Inputto- State (ISS) stabilizing state-feedback control law, designed without accounting for the network-induced delays, we propose a non-acknowledged communication policy that allows to deploy the above controller over the network without any modification, while preserving the Regional ISS property. The time-varying delays and packet dropouts occurring on both the up-link and the down-link are compensated through a model-based prediction scheme and a packet-management policy based on time-stamping. The consistency of the prediction, which is a major issue in the context of nonlinear systems with an embedded networked controller, is guaranteed through the exploitation of a novel moveblocking strategy for computing the command sequence to be forwarded to the actuators.
Robust Stabilization of a Class of Nonlinear Systems Controlled Over Communication Networks
G. PinMembro del Collaboration Group
;G. FenuMembro del Collaboration Group
;T. Parisini
Membro del Collaboration Group
2021-01-01
Abstract
The paper deals with the stabilization of nonlinear systems in which the loop is closed over a lossy nonacknowledged communication network. Given a Regional Inputto- State (ISS) stabilizing state-feedback control law, designed without accounting for the network-induced delays, we propose a non-acknowledged communication policy that allows to deploy the above controller over the network without any modification, while preserving the Regional ISS property. The time-varying delays and packet dropouts occurring on both the up-link and the down-link are compensated through a model-based prediction scheme and a packet-management policy based on time-stamping. The consistency of the prediction, which is a major issue in the context of nonlinear systems with an embedded networked controller, is guaranteed through the exploitation of a novel moveblocking strategy for computing the command sequence to be forwarded to the actuators.File | Dimensione | Formato | |
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Pin_Fenu_Casagrande_Zorzenon_Parisini_TAC_Accepted_Version_30_7_2020.pdf
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Descrizione: © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes,creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Link to publisher's version: https://ieeexplore.ieee.org/document/9184002/ at DOI10.1109/TAC.2020.3021039
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