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SCHMM-based compensation for the random delays in networked control systems

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Abstract

In order to compensate the network-induced random delays in networked control systems (NCSs), the semi-continuous hidden Markov model (SCHMM) is introduced in this paper to model the controller-to-actuator (CA) delay in the forward network channel. The expectation maximization algorithm is used to obtain the optimal estimation of the model’s parameters, and the Viterbi algorithm is used to predict the CA delay in the current sampling period. Thus, the predicted CA delay and the measured sensor-tocontroller (SC) delay in the current sampling period are used to design an optimal controller. Under this controller, the exponentially mean square stability of the NCS is guaranteed, and the SC and CA delays are compensated. Finally, the effectiveness of the method proposed in this paper is demonstrated by a simulation example. Moreover, a comparative example is also given to illustrate the superiority of the SCHMM-based optimal controller over the discrete hidden Markov model (DHMM)-based optimal controller.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, Tsinghua University, Beijing, 100084, China

    Yuan Ge

  2. College of Electrical Engineering, Anhui Polytechnic University, Wuhu, 241000, China

    Yuan Ge

  3. School of Management and Economics, University of Electronic Science and Technology of China, Chengdu, 611731, China

    Yaoyiran Li

Authors
  1. Yuan Ge
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  2. Yaoyiran Li
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Corresponding author

Correspondence to Yuan Ge.

Additional information

This work was supported by National Natural Science Foundation of China (NoS. 61203034 and 61572032).

Recommended by Associate Editor Qing-Long Han

Yuan Ge received the B. Sc., M. Sc., and Ph.D. degrees from University of Science and Technology of China in 2002, 2005 and 2011, respectively. Now, he is a visiting scholar in the Department of Electrical Engineering at Tsinghua University, China, and he is also a professor in the College of Electrical Engineering at Anhui Polytechnic University, China.

His research interests include networked control systems, telerobotic systems and optimal control.

ORCID iD: 0000-0003-2037-319X

Yaoyiran Li is a senior student majoring in electrical engineering at University of Electronic Science and Technology of China, China. He is an IEEE student member (No. 93258350).

His research interests include robotics, artificial intelligence and automatic control.

ORCID iD: 0000-0001-9529-3878

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Ge, Y., Li, Y. SCHMM-based compensation for the random delays in networked control systems. Int. J. Autom. Comput. 13, 643–652 (2016). https://doi.org/10.1007/s11633-016-1001-7

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  • DOI: https://doi.org/10.1007/s11633-016-1001-7

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