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Research Papers

Modified Generalized Predictive Control of Networked Systems With Application to a Hydraulic Position Control System

[+] Author and Article Information
Bo Yu

Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109-2125

Yang Shi1

Department of Mechanical Engineering, University of Victoria, P.O. Box 3055, STN CSC, Victoria, BC, V8W 3P6, Canadayshi@uvic.ca

Ji Huang

Department of Mechanical Engineering, University of Victoria, P.O. Box 3055, STN CSC, Victoria, BC, V8W 3P6, Canada

1

Corresponding author.

J. Dyn. Sys., Meas., Control 133(3), 031009 (Mar 25, 2011) (9 pages) doi:10.1115/1.4003385 History: Received August 25, 2008; Revised November 12, 2010; Published March 25, 2011; Online March 25, 2011

This paper is concerned with the design of networked control systems using the modified generalized predictive control (M-GPC) method. Both sensor-to-controller (S-C) and controller-to-actuator (C-A) network-induced delays are modeled by two Markov chains. M-GPC uses the available output and prediction control information at the controller node to obtain the future control sequences. Different from the conventional generalized predictive control in which only the first element in control sequences is used, M-GPC employs the whole control sequences to compensate for the time delays in S-C and C-A links. The closed-loop system is further formulated as a special jump linear system. The sufficient and necessary condition to guarantee the stochastic stability is derived. Simulation studies and experimental tests for an experimental hydraulic position control system are presented to verify the effectiveness of the proposed method.

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Copyright © 2011 by American Society of Mechanical Engineers
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Figures

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Figure 1

Diagram of the networked control system

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Figure 2

Hydraulic position control system

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Figure 3

Networked hydraulic position control system

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Figure 4

Simulation 1: tracking performance of the conventional GPC applied to the local HPCS

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Figure 5

S-C delays τk governed by Eq. 37

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Figure 6

C-A delays dk governed by Eq. 37

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Figure 7

Simulation 2: tracking performance of the conventional GPC applied to the networked HPCS with delays governed by Eq. 37

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Figure 8

Simulation 3: tracking performance of the M-GPC applied to the networked HPCS with delays governed by Eq. 37

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Figure 11

Experimental result: tracking performance of the M-GPC applied to the networked HPCS with delays governed by Eq. 37

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Figure 10

Experimental result: tracking performance of the conventional GPC applied to the networked HPCS with delays governed by Eq. 37

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Figure 9

Experimental result: tracking performance of the conventional GPC applied to the local HPCS

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