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Efficient networked UAV control using event-triggered predictive control
Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul, South Korea..
Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul, South Korea..
Hankyong Natl Univ, Dept Elect Elect & Control Engn, Anseong, South Korea..
Seoul Natl Univ, Dept Mech & Aerosp Engn, Seoul, South Korea..
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2019 (English)In: IFAC PAPERSONLINE, ELSEVIER , 2019, Vol. 52, no 15, p. 412-417Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we propose a method to improve the networked UAV control system using event-triggered control and model predictive control (MPC). Although the UAV control over the network has many advantages, it involves a long-time delay and packet loss, which adversely affect real-time control performance. Delay compensation algorithms in the networked control system (NCS) have been proposed to address such issues, however, they do not consider the resource limit of the network so that the network congestion may occur. In that case, the packet loss and network delay issues can even be worsened. In this study, we propose a method to reduce the generation of less important control signals and to use the network more efficiently by using event-triggered control. Since the event-triggered control method is also influenced by the network delay, an event trigger function suitable for NCS is designed. We validated the effectiveness of networked UAV control system and event-triggered control by simulation.

Place, publisher, year, edition, pages
ELSEVIER , 2019. Vol. 52, no 15, p. 412-417
Keywords [en]
Aerospace Systems, Networked Control System, Event-triggered Control, Model Predictive Control, Delay Compensation
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-266525DOI: 10.1016/j.ifacol.2019.11.710ISI: 000503816000071Scopus ID: 2-s2.0-85077500752OAI: oai:DiVA.org:kth-266525DiVA, id: diva2:1385771
Conference
8th International-Federation-of-Automatic-Control (IFAC) Symposium on Mechatronic Systems (MECHATRONICS) / 11th International-Federation-of-Automatic-Control (IFAC) Symposium on Nonlinear Control Systems (NOLCOS), SEP 04-06, 2019, Tech Univ Wien, Vienna, AUSTRIA
Note

QC 20200115

Available from: 2020-01-15 Created: 2020-01-15 Last updated: 2020-02-04Bibliographically approved

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Johansson, Karl H.

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