Research Papers

Decentralized Control Framework and Stability Analysis for Networked Control Systems

[+] Author and Article Information
Ahmed Elmahdi

School of Aeronautics and Astronautics,
Purdue University,
West Lafayette, IN 47906
e-mail: aelmahdi@purdue.edu

Ahmad F. Taha

School of Electrical
and Computer Engineering,
Purdue University,
West Lafayette, IN 47906
e-mail: tahaa@purdue.edu

Dengfeng Sun

Assistant Professor
School of Aeronautics and Astronautics,
Purdue University,
West Lafayette, IN 47907
e-mail: dsun@purdue.edu

Jitesh H. Panchal

Assistant Professor
School of Mechanical Engineering,
Purdue University,
West Lafayette, IN 47907
e-mail: panchal@purdue.edu

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received February 20, 2014; final manuscript received August 28, 2014; published online December 10, 2014. Assoc. Editor: M. Porfiri.

J. Dyn. Sys., Meas., Control 137(5), 051006 (May 01, 2015) (11 pages) Paper No: DS-14-1085; doi: 10.1115/1.4028789 History: Received February 20, 2014; Revised August 28, 2014; Online December 10, 2014

The combination of decentralized control and networked control where control loops are closed through a network is called decentralized networked control system (DNCS). This paper introduces a general framework that converts a generic decentralized control configuration of non-networked systems to the general setup of networked control systems (NCS). Two design methods from the literature of decentralized control for non-networked systems were chosen as a base for the design of a controller for the networked systems, the first being an observer-based decentralized control, while the second is the well-known Luenberger combined observer–controller. The main idea of our design is to formulate the DNCS in the general form and then map the resulting system to the general form of the NCS. First, a method for designing decentralized observer-based controller is discussed. Second, an implementation using a network is analyzed for the two designs. Third, two methods to analyze the stability of the DNCS are also introduced. Fourth, perturbation bounds for stability of the DNCS have been derived. Finally, examples and simulation results are shown and discussed.

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Fig. 1

Example of an NCS configuration

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Fig. 2

Observer-based control design scheme

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Fig. 3

DNCS state–space configuration (2)

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Fig. 5

Distributed state of the plant and distributed control

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Fig. 4

Mapping DNCS to the typical NCS setup

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Fig. 7

Unstable behavior of the system in example 1 (for τm > 0.20065 s)

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Fig. 8

Stable behavior of the system of example 1 (conservative bound, τm=1.2580 × 10-7 s)

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Fig. 6

The network effect modeled as pure time delay

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Fig. 11

Example 3 stability analysis: the upper plot shows a stable behavior of the system (conservative bound, τm = 4.1660 × 10-8s), while the lower plot illustrates the unstable output behavior when τm > 0.1074 s

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Fig. 9

Unstable behavior of the system in example 2 (for τm > 0.035324 s).

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Fig. 10

Stable behavior of the system in example 2 (conservative bound, τm=5.2753 × 10-9 s)



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