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Sliding Mode Control Under Stochastic Communication Protocol
Published in Jun Song, Zidong Wang, Yugang Niu, Protocols-Based Sliding Mode Control, 2023
Jun Song, Zidong Wang, Yugang Niu
In this chapter, the sliding mode control (SMC) problem is investigated for a class of uncertain discrete-time systems with unmatched external disturbance and stochastic communication protocol (SCP) scheduling. At each transmission instant, only one actuator is allowed to obtain access to the communication network, and the SCP modelled as a discrete-time Markov chain is applied to determine which actuator should gain the access to the network at a certain instant. The zero-order holders (ZOHs) are utilized to keep the received values unchanged until the renewed data is received. By taking the impacts from the SCP scheduling into account, a suitable SMC law is constructed and the corresponding design approach is then established in terms of a convex optimization problem. The main contributions of this chapter are highlighted as follows: 1) the SCP protocol is applied to reduce the bandwidth usage between the sliding mode controller and the actuators; 2) a token-dependent SMC law is designed to cope with the Markovian jumping scheduling and the reachability of the sliding mode dynamics is proven by using a new token-dependent stochastic Lyapunov function; 3) to handle the effects from the ZOHs, some time-varying bounds are specified in the SMC scheme such that the closed-loop system is stochastically stable with a given H∞ disturbance attenuation level; and 4) a set of coupled linear matrix inequalities (LMIs) is established to compute the token-dependent parameter matrices in SMC law.
Using Computer Simulations for Quantifying Impact of Infrastructure Changes for Autonomous Vehicles
Published in Nishu Gupta, Joel J. P. C. Rodrigues, Justin Dauwels, Augmented Intelligence Toward Smart Vehicular Applications, 2020
Priyanka Mehta, Vyas Pranjal, Abraham Anuj, Rampalli Shyam Sundar, Muhammad Usman, Shashwat, Dauwels Justin
The network interface simulation in VTD is externally controlled using a network interface built on proprietary SCP, which uses transmission control protocol/internet protocol. The American Standard Code for Information Interchange (ASCII) data in SCP commands uses XML syntax, which is easy to read and modify. Full control of the simulation is possible by solely using SCP, as VTD has a comprehensive suite of these commands for each aspect of the simulation. The synchronization of simulation time with the processing of algorithms for self-driving is achieved using SCP as well.
Host Computer: Raspberry Pi
Published in Volker Ziemann, A Hands-On Course in Sensors Using the Arduino and Raspberry Pi, 2018
Instead of retyping all the programs for the Arduino on the Raspi, we copy the files from our desktop computer to the Raspi with scp, which is part of the secure-shell program suite if it is a Unix-based system such as Linux or Mac. On a Windows system we use WinSCP. On a Linux Desktop computer we execute scp –r Arduino [email protected]:
Distributed fusion filtering for cyber-physical systems under Round-Robin protocol: a mixed H 2/H ∞ framework
Published in International Journal of Systems Science, 2023
Yuhang Jin, Xiaosen Ma, Xueyang Meng, Yun Chen
In the communication network, which is usually utilised in the remote filtering and control tasks because of its distinguishing features (e.g. low cost, high transmission rate, and large scale), it is easy to occur some network-induced phenomena resulting from the limited bandwidth, such as the transmission delay and the data collision and dropout (Y. Chen, Chen et al., 2020; K. Liu et al., 2020; Qi et al., 2021; Y. Wang et al., 2018). These phenomena, if not properly handled, might severely degrade or even distort the system performance. To alleviate the effects of these undesirable phenomena, some popular protocols have been employed to facilitate the communication process, including but not limited to the Round-Robin protocol (RRP) (W. Chen et al., 2021; Zhu et al., 2020), the try-once-discard protocol (TODP) X. Li et al. (2022) and the stochastic communication protocol (SCP) (W. Chen et al., 2022; X. Wan et al., 2022). As is known, the RRP is a kind of periodic protocol under which all signals are transmitted in a given circular fashion, which has recently drawn a great deal of research attention in filtering and control problems because of its structural simplicity and succinct execution features (S. Chen et al., 2020; Dong et al., 2022). Nevertheless, the corresponding distributed fusion filtering issue under the RRP-based communication has not yet gained adequate attention, not to mention the simultaneous consideration of mixed noise disturbances and non-ideal measurement outputs, and the another motivation of this study is to shorten such a gap.
Communication-protocol-based distributed filtering for general systems over sensor networks: developments and challenges
Published in International Journal of General Systems, 2022
Jiaxing Li, Zidong Wang, Jun Hu, Hongjian Liu, Xiaojian Yi
The data collisions might occur during the process of information transmission because of the constraint network bandwidth. For the sake of preventing such data collisions and reducing network congestions, a valid way is proposed to regulate the transmission of nodes on the basis of the so-called CPs, where partial sensors can deliver their data through a shared communication channel at certain sampling step. As it is well recognized, the CPs can alleviate the pressure of data transmission and improve the efficiency of data transmission. Recently, some commonly adopted CPs contain the event-based mechanism (EBM), the round-robin protocol (RRP), the weighted try-once-discard protocol (WTODP), the stochastic communication protocol (SCP), the redundant channel (RC) and so on. The specific ways to choose the node being transmitted or the triggered instant are exhibited in Table 2. So far, some efficient approaches can be available for handling the state estimation or filtering problems under different CPs (see, e.g. Li, Lyu, et al. 2019; Yan, Zhang, Wei, et al. 2019; Li et al. 2020; Mao, Sun, et al. 2021; Sun et al. 2021 for more details).
Finite-horizon H ∞ state estimation for time-varying complex networks based on the outputs of partial nodes
Published in Systems Science & Control Engineering, 2021
Wenhua Zhang, Li Sheng, Ming Gao
In reality, the filter cannot achieve the effect accurately in some cases. Due to some physical reasons such as digital to analog conversion, rounding error, limited precision or internal noise (D. Zhang et al., 2014), the implementation of digital state estimator will have errors. That is, its actual gain may fluctuate or vary compared with the expected gain (Yu et al., 2016). Based on this fact, desired filter is insensitive to some gain errors, in other words, the designed filter is resilient (or non fragile). In the past few years, resilient filters have been widely studied in sensor networks (Sheng, Niu, & Gao, 2018; L. Zhang et al., 2017), complex networks (W. Li et al., 2018; F. Wang et al., 2018; Yang et al., 2019) and neural networks (Hou et al., 2016; Sakthivel et al., 2015). For example, in the literature (L. Zhang et al., 2017), the problem of non-fragile filtering for large-scale power systems based on sensor networks is studied. In Yang et al. (2019), the resilient state estimation problem for a class of time-delay complex networks with stochastic communication protocol (SCP) is discussed.