Controller Analysis and Synthesis for Wireless Servo Systems
Kawka, Paul Anthony
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https://hdl.handle.net/2142/83859
Description
Title
Controller Analysis and Synthesis for Wireless Servo Systems
Author(s)
Kawka, Paul Anthony
Issue Date
2006
Doctoral Committee Chair(s)
Andrew Alleyne
Department of Study
Mechanical Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Mechanical
Language
eng
Abstract
This research develops models for servo control over wireless networks and assembles associated analysis and design tools to address many of the challenges posed by introducing the network. A communication framework utilizing hybrid timer-based sensing/actuation with event-based control is presented that simplifies the scope of the analysis. In this scheme, problems of variable transmission delays and data dropout are analyzed as losses in a discrete-time setting with a fixed step of delay. A discrete-time Markovian jump linear system forms the basic modeling framework. A two-state Markov chain describes the condition of the network and begins to capture natural burstiness of network transmissions. Switched dynamics characterize different modes of operation that depend on the success of a full transmission loop. Two different control approaches are examined in detail. The first approach examines how a state feedback controller designed for a nominal servo system without considering the network can be analyzed when wireless communications are introduced. Strategies are presented, analyzed, and experimentally tested to improve the control performance by applying loss compensation or by using sample time variation to indirectly regulate the network. The second approach develops robust state feedback control synthesis techniques that simultaneously incorporate polytopic plant and network condition uncertainty. This method provides sufficient LMI based conditions to directly synthesize state feedback controllers with guaranteed performance bounds when the true plant and network conditions are unknown, but lie within known convex regions. Controllers designed using this technique are implemented on an experimental wireless inverted pendulum system and are shown to be robust to the designed uncertainty while providing good regulation performance.
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