Communication Dans Un Congrès Année : 2022

Scheduling of over-actuated networked control systems

Jérémie Kreiss
Dragan Nesic
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Résumé

We investigate the scenario where an over-actuated plant is controlled over a network. We concentrate on the effect of two network phenomena: (aperiodic) transmissions and scheduling, in the sense that only one of the actuators receives new data at each transmission instant. We present a solution based on emulation, i.e., the controller is first designed to stabilize the origin of the plant ignoring the network and then the latter is taken into account and conditions on the maximum allowable transmission interval (MATI) and the scheduling protocol are given to preserve the stability of the closed-loop system. Compared to the related literature, the results are tailored to over-actuated plants. In particular, a new model is derived and new conditions on the scheduling protocol are given, which lead to a two-measure stability property for the networked control system. We illustrate how new scheduling protocols can be derived by exploiting over-actuation, which leads to larger MATI bounds compared to applying existing results, as shown on a numerical example.

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Dates et versions

hal-03697606 , version 1 (17-06-2022)

Identifiants

  • HAL Id : hal-03697606 , version 1

Citer

Jérémie Kreiss, Romain Postoyan, Dragan Nesic, Maurice Heemels. Scheduling of over-actuated networked control systems. 9th IFAC Conference on Networked Systems, NecSys22, Jul 2022, Zurich, Switzerland. ⟨hal-03697606⟩
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