Abstract
Large scale autonomous systems comprised of closed-loop networked subsystems need new scalable communication, control and computation techniques to interact with humans. In order to be stable and work efficiently, these systems need to have a feed-back loop which considers the networked communication. In this chapter (1) a control system to perform simulated experiments incorporating practical delays and the effects encountered when the subsystems communicate amongst each other is modeled. The simulations show the effects of time delays and the resulting instability from large delays. (2) The time delay systems (TDS) are modeled for both communication and computation in a system of multiple heterogeneous vehicles. (3) Open problems in the delay systems although mostly in the linear space, decentralized control framework for networked control systems has been researched. (4) Finally, an input observer based system for networked control system is reviewed.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
J. Nilsson, B. Bernhardsson, B. Wittenmark, Stochastic analysis and control of real-time systems with random time delays. Automatica 34(1), 57–64 (1998)
J. Nilsson, Real-time control systems with delays. Master’s thesis, Lund Institute of Technology (1998)
R. Krtolica, Ü. Özgüner, H. Chan, H. Göktas, J. Winkelman, M. Liubakka, Stability of linear feedback systems with random communication delays. Int. J. Control 59(4), 925–953 (1994)
M. Malek-Zavarei, M. Jamshidi, Time-Delay Systems: Analysis, Optimization and Applications(Elsevier Science Inc., 1987)
S.-I. Niculescu, E.I. Verriest, L. Dugard, J.-M. Dion, Stability and robust stability of time-delay systems: a guided tour, in Stability and Control of Time-delay Systems (Springer, 1998), pp. 1–71
S.-I. Niculescu, Delay Effects on Stability: A Robust Control Approach, vol. 269 (Springer Science & Business Media, 2001)
S.-I. Niculescu, J.-P. Richard, Guest editorial introduction to the special issue on analysis and design of delay and propagation systems. IMA J. Math. Control. Inf. 19(1,2), 1–4 (2002)
L.A. Montestruque, P.J. Antsaklis, Model-based networked control systems: stability. ISIS Technical Report ISIS-2002-001 (Notre Dame, IN, 2001)
S.-I. Niculescu, R. Lozano, On the passivity of linear delay systems. IEEE Trans. Autom. Control 46(3), 460–464 (2001)
S.-I. Niculescu, H/sub/spl infin//memoryless control with an/spl alpha/-stability constraint for time-delay systems: an LMI approach. IEEE Trans. Autom. Control 43(5), 739–743 (1998)
J.-P. Richard, Time-delay systems: an overview of some recent advances and open problems. Automatica 39(10), 1667–1694 (2003)
N.V. Azbelev, L. Rakhmatullina, Introduction to the Theory of Functional Differential Equations: Methods and Applications, vol. 3 (Hindawi Publishing Corporation, 2007)
H. Othman, Y. Aji, F. Fakhreddin, A. Al-Ali, Controller area networks: evolution and applications, in 2nd Information and Communication Technologies, ICTTA’06, vol. 2 (IEEE, 2006), pp. 3088–3093
W. Wang, Z. Zhang, A survey of the research status of networked control systems, in Seventh International Symposium on Instrumentation and Control Technology (International Society for Optics and Photonics, 2008), pp. 712 916–712 916
A. Elmahdi, A.F. Taha, D. Sun, J.H. Panchal, Decentralized control framework and stability analysis for networked control systems. J. Dyn. Syst. Meas. Control. 137(5), 051006 (2015)
K. Kalsi, J. Lian, S.H. Żak, Reduced-order observer-based decentralised control of non-linear interconnected systems. Int. J. Control 82(6), 1157–1166 (2009)
K. Kalsi, J. Lian, S.H. Żak, On decentralised control of non-linear interconnected systems. Int. J. Control 82(3), 541–554 (2009)
D. Šiljak, D. Stipanovic, Robust stabilization of nonlinear systems: the LMI approach. Math. Probl. Eng. 6(5), 461–493 (2000)
A.F. Taha, A. Elmahdi, J.H. Panchal, D. Sun, Unknown input observer design and analysis for networked control systems. Int. J. Control 88(5), 920–934 (2015)
H. Chan, Ü. Özgüner, Closed-loop control of systems over a communications network with queues. Int. J. Control 62(3), 493–510 (1995)
N. Gallardo, K. Pai, B.A. Erol, P. Benevidez, B. Champion, N. Gamez, M. Jamshidi, Formation control implementation using Kobuki TurtleBots and Parrot Bebop drone, in Proceedings of the World Automation Congress, Puerto Rico (2016)
P. Hvel, E. Schll, Control of unstable steady states by time-delayed feedback methods (2005)
P. Hovel, Control of Complex Nonlinear Systems with Delay (Springer, Berlin, Heidelberg, 2010)
D. Gauthier, J.E. Socolar, D.W. Sukow, Stabilizing unstable periodic orbits in fast dynamical systems (1994)
K. Pyragas, Continuous control of chaos by self-controlling feedback. Phys. Lett. A 170, 421 (1992)
R. Luck, A. Ray, An observer-based compensator for distributed delays. Automatica 26(5), 903–908 (1990)
A. Cervin, D. Henriksson, B. Lincoln, J. Eker, K.-E. Årzén, How does control timing affect performance? Analysis and simulation of timing using Jitterbug and TrueTime. IEEE Control Syst. Mag. 23(3), 16–30 (2003)
Raspberry PI, Raspberry pi information, https://en.wikipedia.org/wiki/Raspberry_Pi
P. Corke, Robotics, Vision, and Control: Fundamental Algorithms in MATLAB, vol. 73 (Springer, Berlin, 2011)
A.M. Bloch, Nonholonomic Mechanics and Control, vol. 24 (Springer, New York, 2003)
C. Balas, Modelling and linear control of a quadrotor. Master’s thesis, Cranfield University, Sept 2007
M. Jamshidi, System of Systems Engineering—Innovations for the 21st Century (Wiley, New York, NY, 2009)
A.F. Taha, A. Elmahdi, J.H. Panchal, D. Sun, Unknown input observer design and analysis for networked control systems. Int. J. Control 88, 920–934 (2015)
G.-B. Huang, Q.-Y. Zhu, C.-K. Siew, Extreme learning machine: theory and applications. Neurocomputing 70(1), 489–501 (2006)
D.D. Wang, R. Wang, H. Yan, Fast prediction of protein-protein interaction sites based on extreme learning machines. Neurocomputing 128, 258–266 (2014)
Z. Zheng-zhong, J. Yi-min, Z. Wen-hui, X. Tian, Prediction of short-term power output of wind farms based on extreme learning machine, in Unifying Electrical Engineering and Electronics Engineering (Springer, 2014), pp. 1029–1035
Acknowledgements
This work was supported by Grant number FA8750-15-2-0116 from Air Force Research Laboratory and OSD through a contract with North Carolina Agricultural and Technical State University.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Kolar, P., Gamez, N., Jamshidi, M. (2020). Impact of Time Delays on Networked Control of Autonomous Systems. In: Kosheleva, O., Shary, S., Xiang, G., Zapatrin, R. (eds) Beyond Traditional Probabilistic Data Processing Techniques: Interval, Fuzzy etc. Methods and Their Applications. Studies in Computational Intelligence, vol 835. Springer, Cham. https://doi.org/10.1007/978-3-030-31041-7_9
Download citation
DOI: https://doi.org/10.1007/978-3-030-31041-7_9
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-31040-0
Online ISBN: 978-3-030-31041-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)