Switching Control for a Networked Vision-based Control System

Publication: ResearchJournal article – Annual report year: 2011

Without internal affiliation

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DOI

  • Author: Chen, Chih-Chung

    Institute of Automatic Control Engineering, Technische Universitat Munchen, Germany

  • Author: Wu, Haiyan

    Unknown

  • Author: Kuhnlenz, Kolja

    Institute of Automatic Control Engineering, Technische Universitat Munchen, Germany

  • Author: Hirche, Sandra

    Institute of Automatic Control Engineering, Technische Universitat Munchen, Germany

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Advances in communication and computation technology facilitate closed loop control via communication networks. Such networked control systems may include distributed sensors and actuators as well as distributed computational resources. In the field of vision-based control, the possibility of distributed computation is of particular interest due to the large amounts of visual data to be processed. Time-delay caused by data transfer through the network and by processing algorithms impair stability and performance of the controlled closed-loop system. In this article, a novel switching control scheme for networked vision-based control systems is proposed accounting for varying time-delay in order to improve control performance. The closed-loop system is modeled as a continuous system with varying time-delay considering processing and transfer time-delays as well as sampling intervals. Mean exponential stability is proven based on occurrence probabilities of delays. The article concludes with comparative experiments showing a significant improvement of control performance of the proposed approach with respect to a non-switching reference controller.
Original languageEnglish
JournalAutomatisierungstechnik
Publication date2011
Volume59
Issue2
Pages124-133
ISSN0178-2312
DOIs
StatePublished
CitationsWeb of Science® Times Cited: No match on DOI
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