Design of multi-rate remote control systems with online estimation of the delay time

Authors:
Chien-Liang Lai;Pau-Lo Hsu
Affiliations:
Department of Electrical and Control Engineering, National Chiao-Tung University, Hsinchu, 300, Taiwan, ROC.;Department of Electrical and Control Engineering, National Chiao-Tung University, Hsinchu, 300, Taiwan, ROC
Venue:
International Journal of Systems, Control and Communications
Year:
2011

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Abstract

This paper integrates the IEEE 802.11g ad-hoc wireless network and the Control Area Network (CAN) as the Hybrid Networked Control System (HNCS) by implementing a communication gateway. An online delay estimation algorithm with a short-window median filter is adopted for the adaptive Smith predictor in the HNCS design. Moreover, the sampling rate is automatically switched according to the estimated delay time as network congestion occurs to render the reliable control performance of HNCS. Analytical and experimental results have proven the feasibility of the present HNCS design to achieve a satisfactory remote control system under environments with serious time delay.