| A great deal of attention has recently been focused on a class of wireless networked control systems (WiNCS) wherein the control loops are closed through wireless communication networks. This family of systems is an integration of plants, sensors, controllers, actuators and wireless communication networks of certain local field. It aims to ensure data transmission and coordination manipulation among spatially distributed and mobile components. Compared with conventional point-to-point control systems and wired networked control systems, the advantages of WiNCS based on the control, network, radio frequency communication and computer technology are the elimination of wiring, lower install cost, greater mobility as well as greater agility and robustness in diagnosis and maintenance. Because of these distinctive benefits, typical application of these WiNCS ranges over various fields, such as automotive, mobile robotics, advanced aircraft, mechanical and process control, and so on. The WiNCS becomes a hotspot in the control field.However, the introduction of wireless communication networks in the control loops makes the analysis and design of WiNCS complex. The requirements of stable feedback control with wireless network are not yet satisfied duo to random network-induced delays, higher bit-error, jitter, packet losses as well as limited communication bandwidth.In this dissertation, the WiNCS in the frame of modern control theory and radio frequency communication theory are studied through experimental methods for a class of WiNCS built around wireless sensor networks (WSN). Based on the IEEE 802.15.4/Zigbee protocols stack, a novel prototype testbed is designed and used to study the WiNCS and WSN. With an aim to improve the stability of closed-loop WiNCS and decrease the impact of the network-induced delay on closed-loop WiNCS. the novel algorithms compensated the network-induced delay are presented from the viewpoint of control and wireless networks. |
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