Research Of Movement Control Systems Based On Wireless Network

With the increasingly development and infiltration of the control, computer, network, and communication technology, many kinds of research of control systems based on network is more and more attractive. With the rapid development of the wireless networks applications, Wireless Networked Control is drawn the attention in recent years. Wireless Networked Control System (WiNCS) is a distributed control system connected over a wireless network. The WiNCS has many advantages, such as convenient application, easy to maintain and expand, flower cost, and so on. Since the bandwidth limitation of wireless networks, some new issues such as random delays, packet losses appear. Therefore, the study of WiNCS has become a hotspot in the control field.Considering the impact of network-induced delays and packet losses, the design and experiment of the controller in WiNCS are studied in this thesis.Firstly, the development of networked control systems is reviewed, and some basic contents, issues and recent research results on WiNCS are summarized.Secondly, establish a wireless networked control system platform and use it to control the mobile robot, and then, modeling method for the mobile robot is proposed.Thirdly, aimed at robot based on the wireless network, the effect of the network-induced delays on the mobile robot control system is analyzed. It indicates that we must adopt valid control strategy to compensate the factor, in order to ensure the system performance and stability.Finally, the fuzzy immune PID controller and the modified networked predictive control are applied to control the mobile robot based on the wireless network. The experimental results show that the controllers employed in this paper are effective and can improve the bad effect of the delay on the control performance based on the wireless network.