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Fecha
2024-05-27
Derechos de acceso
info:eu-repo/semantics/openAccess
Título de la revista
ISSN de la revista
Título del volumen
Editorial
Elsevier
Citas
Resumen
This paper introduces a novel resource-efficient control structure for remote path-following control of autonomous vehicles based on a comprehensive combination of Kalman filtering, non-uniform dual-rate
sampling, periodic event-triggered communication, and prediction-based and packet-based control techniques. An essential component of the control solution is a non-uniform dual-rate extended Kalman filter (NUDREKF), which includes an h-step ahead prediction stage. The prediction error of the NUDREKF is ensured to be exponentially mean-square bounded. The algorithmic implementation of the filter is straightforward and triggered by periodic event conditions. The main goal of the approach is to achieve efficient usage of resources in a wireless networked control system (WNCS), while maintaining satisfactory path-following behavior for the
vehicle (a holonomic Mecanum-wheeled robot). The proposal is additionally capable of coping with typical drawbacks of WNCS such as time-varying delays, and packet dropouts and disorder. A Simscape Multibody
simulation application reveals reductions of up to 93% in resource usage compared to a nominal time-triggered control solution. The simulation results are experimentally validated in the holonomic Mecanum-wheeled robotic platform.
Descripción
The registered version of this article, first published in “ISA Transactions, Volume 151, 2024, Pages 377-390", is available online at the publisher's website: Elsevier, https://doi.org/10.1016/j.isatra.2024.05.041
La versión registrada de este artículo, publicado por primera vez en “ISA Transactions, Volume 151, 2024, Pages 377-390", está disponible en línea en el sitio web del editor: Elsevier, https://doi.org/10.1016/j.isatra.2024.05.041
La versión registrada de este artículo, publicado por primera vez en “ISA Transactions, Volume 151, 2024, Pages 377-390", está disponible en línea en el sitio web del editor: Elsevier, https://doi.org/10.1016/j.isatra.2024.05.041
Categorías UNESCO
Palabras clave
Networked control, Periodic event-triggered communication, Kalman filter, Stochastic stability, Mecanum-wheeled robot
Citación
Rafael Carbonell, Ángel Cuenca, Julián Salt, Ernesto Aranda-Escolástico, Vicente Casanova, Remote path-following control for a holonomic Mecanum-wheeled robot in a resource-efficient networked control system, ISA Transactions, Volume 151, 2024, Pages 377-390, https://doi.org/10.1016/j.isatra.2024.05.041
Centro
E.T.S. de Ingeniería Informática
Departamento
Ingeniería de Software y Sistemas Informáticos