A Packet Loss Compliant Logic-Based Communication Algorithm for Cooperative Path-Following Control
نویسندگان
چکیده
We introduce an event driven communication logic for decentralized control of a network of robotic vehicles (agents). The strategy proposed is robust to packet losses and drives the vehicles to predefined paths while holding a desired geometric formation pattern. To this effect, the paper extends an existing cooperative path following framework to consider the practical case where communications among the vehicles occur at discrete instants, instead of continuously. The introduced communication logic takes into account the topology of the communication network, the fact that communications are discrete, and the cost of exchanging information. We also address explicitly communication losses and bounded delays. Conditions are derived under which the overall closed loop system is input-to-state practically stable. The communication logic is applied to a cooperative path-following control system of multiple underactuated autonomous marine robots. Simulation results are presented and discussed.
منابع مشابه
Design and Practical Implementation of a New Markov Model Predictive Controller for Variable Communication Packet Loss in Network Control Systems
The current paper investigates the influence of packet losses in network control systems (NCS’s) using the model predictive control (MPC) strategy. The study focuses on two main network packet losses due to sensor to controller and controller to actuator along the communication paths. A new Markov-based method is employed to recursively estimate the probability of time delay in controller to ac...
متن کاملTopology Control in Wireless Sensor Network using Fuzzy Logic
Network sensors consist of sensor nodes in which every node covers a limited area. The most common use ofthese networks is in unreachable fields.Sink is a node that collects data from other nodes.One of the main challenges in these networks is the limitation of nodes battery (power supply). Therefore, the use oftopology control is required to decrease power consumption and increase network acce...
متن کاملDesigninga Neuro-Sliding Mode Controller for Networked Control Systems with Packet Dropout
This paper addresses control design in networked control system by considering stochastic packet dropouts in the forward path of the control loop. The packet dropouts are modelled by mutually independent stochastic variables satisfying Bernoulli binary distribution. A sliding mode controller is utilized to overcome the adverse influences of stochastic packet dropouts in networked control system...
متن کاملThe Feedback Based Mechanism for Video Streaming Over Multipath Ad Hoc Networks
Ad hoc networks are multi-hop wireless networks without a pre-installed infrastructure. Such networks are widely used in military applications and in emergency situations as they permit the establishment of a communication network at very short notice with a very low cost. Video is very sensitive for packet loss and wireless ad-hoc networks are error prone due to node mobility and weak links. H...
متن کاملNovel Clustering Algorithm Based on Minimal Path Loss Ratio for Medium Access Control in Vehicle-to-Vehicle Communication System
Emerging vehicular applications such as data transfer, maps, music data updates, and video downloads, pose a host of completely new set of requirements such as maintaining end-toend connectivity, packet routing, and reliable communication for internet access while on the move. One of the biggest challenges is to provide good quality of service (QoS) such as low packet delay while coping with th...
متن کامل