Professional Documents
Culture Documents
7, JULY 2010
2527
I. I NTRODUCTION
2528
Authorized licensed use limited to: Baylor University. Downloaded on August 05,2010 at 14:40:51 UTC from IEEE Xplore. Restrictions apply.
GUPTA AND CHOW: NETWORKED CONTROL SYSTEM: OVERVIEW AND RESEARCH TRENDS
Fig. 3.
2529
Authorized licensed use limited to: Baylor University. Downloaded on August 05,2010 at 14:40:51 UTC from IEEE Xplore. Restrictions apply.
2530
Fig. 4. Block diagram of the NCS plant structure showing the network delays
designed by Tipsuwan and Chow in [10].
However, precise delay time models are needed for implementation of the predictive methods. Natori and Ohnishi [51]
proposed a time delay compensation method based on the
concept of network disturbance and communication disturbance observer. In this method, a delay time model is not
needed. Hence, it can flexibly be applied to many kinds of
time-delayed systems. Richards and Chow [18] investigated
four methodsGSM, optimal stochastic, queuing, and robust
control methodologythat alleviate the IP network delays to
provide stable real-time control using a case study on a networked dc motor. In [11], Liu et al. discussed the design of
NCSs with a networked predictive controller in the presence
of random network delay in both the forward and feedback
channels. Zhang et al. [7] represented nonlinear NCSs by a
T-S fuzzy model and addressed network delay as well as packet
drop issues using robust H control. Li et al. [78] proposed
a novel discrete-model switch system for NCSs with time
delay and packet drop. With this model, they designed a statefeedback controller for NCSs for asymptotic stability. Network
delay compensation thus has been studied in depth, and many
solutions, some application-based and some theoretical, are
proposed in literature. However, as NCS approaches more and
more complex applications and systems, the following research
topics have emerged.
C. FTC in NCS
Built-in redundancy improves failure rates, while fault tolerance is implemented to prevent faults from propagating through
the system; both are essential elements of a safety critical NCS.
Here, some of the important literature related to fault-tolerant
control (FTC) in NCSs has been cited.
Patankar presented a model in [69] for a fault-tolerant NCS
using time-triggered protocol communication. Huo et al. [68]
studied scheduling and control codesign for a robust FTC of
NCS based on robust H FTC idea. Wang et al. [71] proposed a
fault detection approach for NCS, which considers the influence
of unknown and random network-induced delay as multiplicative faults. Mendes et al. [70] proposed a multiagent platform
based on decentralized design and distributed computing for
FTC systems. Zhu and Zhou [72] applied a states-observerbased fault detection approach on the uncertain long-time-delay
NCS without changing the system construction. A procedure
for controlling a system over a network using the concept of an
NCS information packet is described by Klinkhieo et al. in [73].
This procedure is composed of an augmented vector consisting
of control moves and fault flags. The size of this packet is used
to define a completely fault-tolerant NCS.
Authorized licensed use limited to: Baylor University. Downloaded on August 05,2010 at 14:40:51 UTC from IEEE Xplore. Restrictions apply.
GUPTA AND CHOW: NETWORKED CONTROL SYSTEM: OVERVIEW AND RESEARCH TRENDS
Fig. 5.
Block diagram of the GSM module designed by Tipsuwan and Chow [27] for network delay compensation.
Fig. 6.
2531
Authorized licensed use limited to: Baylor University. Downloaded on August 05,2010 at 14:40:51 UTC from IEEE Xplore. Restrictions apply.
2532
1) Techniques and Operating Systems Available for Successful and Reconfigurable Integration: A well-designed software
architectural framework and a middleware are critical for the
widespread deployment and proliferation of NCS. Furthermore, such architecture promotes software reuse since a welldesigned component such as a control algorithm, tested for
one system, can easily be transplanted into another similar
system. At the same time, the suitability of the communication
environment and command modules should also be taken into
consideration.
Baliga and Kumar [24] developed a list of key requirement
for such middleware and presented Etherware, which is a
message-oriented component middleware for NCS. Gupta et al.
[5] examined the practical aspects of designing and building
an NCS that uses Internet as a communication medium. They
worked on a multisensor network-controlled integrated navigation system for multirobots, demonstrating the concept of
intelligent space [5] (Fig. 7).
Tisdale et al. [25] also developed a software architecture
for autonomous vision-based navigation, obstacle avoidance,
and convoy tracking for the Berkeley unmanned aerial vehicle.
Pratl et al. [76] introduced an NCS model based on bionic
principles to process information from a large number of
diverse sensors using multilevel symbolization providing the
ability to adapt to changing sensor inputs in an intelligent
way. Garcia et al. [4] developed a highly integrated control
and programming platform named Motronic which composes
of a set of dynamically reconfigurable local controller nodes,
a graphical programming environment, a remote supervision
and control system, and a fault-tolerant fiber optical network.
Motronic is currently being applied in the integrated control of
large production plants and in energy and power management
industries.
Authorized licensed use limited to: Baylor University. Downloaded on August 05,2010 at 14:40:51 UTC from IEEE Xplore. Restrictions apply.
GUPTA AND CHOW: NETWORKED CONTROL SYSTEM: OVERVIEW AND RESEARCH TRENDS
2533
R EFERENCES
[1] J. C. Maxwell, On governors, Philos. Mag., vol. 35, pp. 385398, 1868.
[2] T. D. Crouch, First Flight: The Wright Brothers and the Invention of the
Airplane. Washington, DC: Division Pub., Harpers Ferry Center Nat.
Park Service, U.S. Dept. Interior, 2002.
[3] M. Farsi, K. Ratcliff, and M. Barbosa, An overview of controller
area network, Comput. Control Eng. J., vol. 10, no. 3, pp. 113120,
Aug. 1999.
[4] J. Garcia, F. R. Palomo, A. Luque, C. Aracil, J. M. Quero, D. Carrion,
F. Gamiz, P. Revilla, J. Perez-Tinao, M. Moreno, P. Robles, and
L. G. Franquelo, Reconfigurable distributed network control system for
industrial plant automation, IEEE Trans. Ind. Electron., vol. 51, no. 6,
pp. 11681180, Dec. 2004.
[5] R. A. Gupta, A. A. Masoud, and M.-Y. Chow, A delay-tolerant potentialfield-based network implementation of an integrated navigation system,
IEEE Trans. Ind. Electron., vol. 57, no. 2, pp. 769783, Feb. 2010.
[6] H.-J. Korber, H. Wattar, and G. Scholl, Modular wireless real-time
sensor/actuator network for factory automation applications, IEEE
Trans. Ind. Informat., vol. 3, no. 2, pp. 111119, May 2007.
[7] H. Zhang, J. Yang, and C.-Y. Su, T-S fuzzy-model-based robust H
design for networked control systems with uncertainties, IEEE Trans.
Ind. Informat., vol. 3, no. 4, pp. 289301, Nov. 2007.
[8] J. P. Hespanha, P. Naghshtabrizi, and Y. Xu, A survey of recent results
in networked control systems, Proc. IEEE, vol. 95, no. 1, pp. 138162,
Jan. 2007.
[9] L. A. Montestruque and P. Antsaklis, Stability of model-based networked
control systems with time-varying transmission times, IEEE Trans.
Autom. Control, vol. 49, no. 9, pp. 15621572, Sep. 2004.
[10] M.-Y. Chow and Y Tipsuwan, Time sensitive network-based control systems and applications, IEEE IES Netw. Based Control Newslett., vol. 5,
no. 2, pp. 1318, Jun. 2005.
[11] G. P. Liu, Y. Xia, J. Chen, D. Rees, and W. Hu, Networked predictive
control of systems with random network delays in both forward and
feedback channels, IEEE Trans. Ind. Electron., vol. 54, no. 3, pp. 1282
1297, Jun. 2007.
[12] Y. Xu, R. Song, L. Korba, L. Wang, W. Shen, and S. Lang, Distributed
device networks with security constraints, IEEE Trans. Ind. Informat.,
vol. 1, no. 4, pp. 217225, Nov. 2005.
[13] L. Hai and P. J. Antsaklis, Stability and stabilizability of switched linear
systems: A survey of recent results, IEEE Trans. Autom. Control, vol. 54,
no. 2, pp. 308322, Feb. 2009.
[14] Z. Li and M.-Y. Chow, Sampling rate scheduling and digital filter codesign of networked supervisory control system, in Proc. ISIE, 2007,
pp. 28932898.
[15] B. R. Klingenberg, U. Ojha, and M.-Y. Chow, Predictive constrained
gain scheduling for UGV path tracking in a networked control system, in
Proc. IROS, 2009, pp. 19351940.
[16] T. Hong, M.-Y. Chow, P. Haaland, D. Wilson, and R. Walker, Scheduling
a life science high-throughput platform under starvation constraints using
timed transition Petri nets and heuristic search, in Proc. IEEE Int. Symp.
Ind. Electron., Jun. 47, 2007, pp. 18931898.
[17] R. C. Luo, K. L. Su, S. H. Shen, and K. H. Tsai, Networked intelligent
robots through the Internet: Issues and opportunities, Proc. IEEE, vol. 91,
no. 3, pp. 371382, Mar. 2003.
[18] T. Richards and M.-Y. Chow, Performance characterization of IP
network-based control methodologies for DC motor applications. Part I,
in Proc. IECON, 2005, pp. 610.
[19] R. M. Daoud, H. M. Elsayed, and H. H. Amer, Gigabit Ethernet for
redundant networked control systems, in Proc. IEEE Int. Conf. Ind.
Technol., Dec. 2004, vol. 2, pp. 869873.
[20] M. A. M. Vieira, C. N. Coelho, Jr., D. C. da Silva, Jr., and J. M. da Mata,
Survey on wireless sensor network devices, in Proc. IEEE Conf.
Emerging Technol. Factory Autom., Dec. 2004, vol. 1, pp. 537544.
[21] Z.-W. Park and M.-K. Kim, Design of an integrated fieldbus gateway,
in Proc. RussianKorean Int. Symp. Sci. Technol., 2005, pp. 843846.
[22] Z. Wang, H. Yu, H. Wang, A. Xu, and Y. Zhou, The research of XMLbased extensible device description for FF fieldbus system, in Proc.
IECON, 2004, pp. 26002603.
[23] P. Matkurbanov, S. Lee, and D.-S. Kim, A survey and analysis of wireless
fieldbus for industrial environments, in Proc. Int. Joint Conf. SICEICASE, Oct. 2006, pp. 55555561.
[24] G. Baliga and P. R. Kumar, A middleware for control over networks, in
Proc. IEEE Conf. Decisions Controls, 2005, pp. 482487.
[25] J. Tisdale, A. Ryan, Z. Kim, D. Tornqvist, and J. K. Hedrick, A multiple
UAV system for vision-based search and localization, in Proc. Amer.
Control Conf., Jun. 1113, 2008, pp. 19851990.
Authorized licensed use limited to: Baylor University. Downloaded on August 05,2010 at 14:40:51 UTC from IEEE Xplore. Restrictions apply.
2534
Authorized licensed use limited to: Baylor University. Downloaded on August 05,2010 at 14:40:51 UTC from IEEE Xplore. Restrictions apply.
GUPTA AND CHOW: NETWORKED CONTROL SYSTEM: OVERVIEW AND RESEARCH TRENDS
[75] M. Grenier and N. Navet, Fine-tuning MAC-level protocols for optimized real-time QoS, IEEE Trans. Ind. Informat., vol. 4, no. 1, pp. 615,
Feb. 2008.
[76] G. Pratl, D. Dietrich, G. P. Hancke, and W. T. Penzhorn, A new model
for autonomous, networked control systems, IEEE Trans. Ind. Informat.,
vol. 3, no. 1, pp. 2132, Feb. 2007.
[77] R. Marau, P. Leite, M. Velasco, P. Marti, L. Almeida, P. Pedreiras, and
J. M. Fuertes, Performing flexible control on low-cost microcontrollers
using a minimal real-time kernel, IEEE Trans. Ind. Informat., vol. 4,
no. 2, pp. 125133, May 2008.
[78] H. Li, Z. Sun, M.-Y. Chow, and B. Chen, State feedback controller design
of networked control systems with time delay and packet dropout, in
Proc. IFAC, 2008, pp. 66266631.
[79] R. Luck and A. Ray, Experimental verification of a delay compensation
algorithm for integrated communication and control systems, Int. J.
Control, vol. 59, no. 6, pp. 13571372, 1994.
[80] F. Goktas, J. M. Smith, and R. Bajcsy, -synthesis for distributed control
systems with network-induced delays, in Proc. 35th IEEE Conf. Decision
Control, 1996, pp. 813814.
[81] J. Nilsson, B. Bernhardsson, and B. Wittenmark, Stochastic analysis
and control of real-time systems with random time delays, Automatica,
vol. 34, no. 1, pp. 5764, Jan. 1998.
[82] H. Chan and . zgner, Closed-loop control of systems over a communication network with queues, Int. J. Control, vol. 62, no. 3, pp. 493510,
Sep. 1995.
[83] C. Benedetti, M. Franchini, and P. Fiorini, Stable tracking in variable
time-delay teleoperation, in Proc. IEEE/RSJ IROS, Maui, HI, 2001,
pp. 22522257.
[84] D. Chen, X. Fu, W. Ding, H. Li, N. Xi, and Y. Wang, Shifted gamma distribution and long-range prediction of round trip time delay for Internetbased teleoperation, in Proc. ROBIO, 2008, pp. 12611266.
[85] P. Minero, M. Franceschetti, S. Dey, and G. N. Nair, Data rate theorem for stabilization over time-varying feedback channels, IEEE Trans.
Autom. Control, vol. 54, no. 2, pp. 243255, Feb. 2009.
[86] J. Li and G. AlRegib, Rate-constrained distributed estimation in wireless
sensor networks, IEEE Trans. Signal Process., vol. 55, no. 5, pp. 1634
1643, May 2007.
[87] B. A. Soglo and X. Yang, Networked control system compensator design
and stability analysis, in Proc. Int. Conf. Control Autom., Jun. 2629,
2005, vol. 2, pp. 715719.
2535
Authorized licensed use limited to: Baylor University. Downloaded on August 05,2010 at 14:40:51 UTC from IEEE Xplore. Restrictions apply.