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  • 1.
    Altaf, Faisal
    et al.
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Araujo, José
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Hernandez, Aitor
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Sandberg, Henrik
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Johansson, Karl Henrik
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Wireless event-triggered controller for a 3D tower crane lab process2011In: 2011 19th Mediterranean Conference on Control and Automation, MED 2011, 2011, p. 994-1001Conference paper (Refereed)
    Abstract [en]

    This paper studies the design and real-time implementation of an event-triggered controller for a nonlinear 3D tower crane where the communication between the controller and the actuators is performed over a low-power wireless network. A flexible Event-Generation Circuit (EGC) is proposed in order to implement event-driven controllers for Networked Control Systems. Furthermore, a detailed experimental analysis on the performance of the event-triggered controller and the influence of packet losses on the transmitted actuation messages are presented. The results show that the event-triggered controllers in networked control systems are able to maintain the same level of performance as compared to periodic controllers, while increasing the sensors/actuators lifetime by reducing network bandwidth utilization.

  • 2.
    Araújo, José
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Anta, A.
    Mazo Jr., M.
    Faria, J.
    Hernandez, Aitor
    KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Tabuada, P.
    Johansson, Karl Henrik
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Self-triggered control over wireless sensor and actuator networks2011Conference paper (Refereed)
    Abstract [en]

    Energy and communication bandwidth are scarce resources in wireless sensor and actuator networks. Recent research efforts considered the control of physical processes over such resource limited networks. Most of the existing literature addressing this topic is dedicated to periodically sampled control loops and scheduled communication, because it simplifies the analysis and the implementation. We propose instead an aperiodic network transmission scheme that reduces the number of transmission instances for the sensor and control nodes, thereby reducing energy consumption and increasing network lifetime, without sacrificing control performance. As an added benefit, we show the possibility of dynamically allocating the network bandwidth based on the physical system state and the available resources. In order to allow timely, reliable, and energy efficient communication, we propose a new co-design framework for the wireless medium access control, compatible with the IEEE 802.15.4 standard. Furthermore, we validate our approach in a real wireless networked control implementation.

  • 3.
    Araújo, José
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Anta, A.
    Mazo Jr., M.
    Faria, João
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Hernandez, Aitor
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Tabuda, P.
    Johansson, Karl Henrik
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Self-triggered control for industrial wireless sensor and actuator networks2011Conference paper (Refereed)
    Abstract [en]

    Energy and communication bandwidth are scarceresources in wireless sensor and actuator networks. Recentresearch efforts considered the control of physical processes oversuch resource limited networks. Most of the existing literatureaddressing this topic is dedicated to periodically sampled controlloops and scheduled communication, because it simplifies theanalysis and the implementation. We propose instead an aperiodicnetwork transmission scheme that reduces the number oftransmission instances for the sensor and control nodes, therebyreducing energy consumption and increasing network lifetime,without sacrificing control performance. As an added benefit,we show the possibility of dynamically allocating the networkbandwidth based on the physical system state and the availableresources. In order to allow timely, reliable, and energy efficientcommunication, we propose a new co-design framework forthe wireless medium access control, compatible with the IEEE802.15.4 standard. Furthermore, we validate our approach in areal wireless networked control implementation.

  • 4.
    Hernandez, Aitor
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Faria, Joao
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Araujo, Jose
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Park, Pangun
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Sandberg, Henrik
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Johansson, Karl H.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Inverted Pendulum Control over an IEEE 802.15.4 Wireless Sensor and Actuator Network2011Conference paper (Refereed)
    Abstract [en]

    Recent research efforts are considering the problem of performing control of dynamical systems over wireless sensor and actuator networks. However, existing results lack an experimental evaluation in real platforms. In this demonstration an inverted pendulum system is controlled over an IEEE 802.15.4 wireless sensor and actuator network. This platform can evaluate several sensor networks and control algorithms and is currently used as an educational tool at KTH Royal Institute of Technology, Sweden.

  • 5.
    Weimer, James
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Araujo, José
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Hernandez, Aitor
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Periodic Constraint-Based Control Using Dynamic Wireless Sensor Scheduling2011In: 2011 50th IEEE Conference on Decision and Control andEuropean Control Conference (CDC-ECC), 2011, p. 4789-4796Conference paper (Refereed)
    Abstract [en]

    Constraint-based control over wireless sensor networks(WSNs) require control strategies that achieve a desiredclosed-loop system performance while using minimal networkresources. In addition to constraints associated with distributedcontrol, WSNs have limitations on bandwidth, energy consumption,and transmission range. This paper introduces andexperimentally evaluates a new receding-horizon approach forperforming constraint-based control using a WSN. By leveragingthe system controllability, the receding-horizon controller isformulated as a mixed-integer programming problem which, ateach time step, simultaneously generates a control sequence andsensor selection schedule such that the desired performance isachieved while minimizing the energy required to perform dataacquisition and control. For systems containing many sensors,a multi-step state estimator is employed to implement thereceding-horizon controller using a conservative abstractionrelaxationapproach that simplifies the original mixed-integerprogramming problem into a convex quadratic programmingproblem. A wireless process control test bed consisting of8 coupled water tanks and 16 wireless sensors are used toexperimentally evaluate the receding-horizon controller.

1 - 5 of 5
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