Research Of Networked Control System Based On ICE

With the widespread application of computer networks and the continuous development of network technology, special or public computer networks, instead of the traditional control system of peer-to-peer structure, can exchange the control information among system components like sensor, controller and actuator. This is known as the networked control system. And the study of it now is becoming a cutting-edge issue in the field of international control. Meanwhile, for the rapid development of computer science, the heterogeneous and interoperable issues have become the most urgent problems to be solved. Therefore, the study of the networked control system in the heterogeneous environment has important theoretical significance and broad application prospects.First, this paper introduced a middleware– ICE (Internet Communications Engine). It is a technology which supports the distributed architecture and heterogeneous network. Through the discussion of its technical characteristics and the comparison among several current mainstream technologies, the technical advantage of ICE has been confirmed. Based on this, this paper also analyzed the advantages of this kind of networked control system and brought out a project about how to build a networked control system based on ICE.Next, this paper studied what influence might occur to the networked control system if data packet dropout. With the help of relevant principles of asynchronous dynamical system and Lyapunov theory, we set up a model that consisted of both network delay and data packet dropout, analyzed its exponential stability and designed its dynamic output feedback controller. The simulation results prove the correctness of our conclusion.Then, this paper introduced the overall design idea, working process and the way how to build the main modules of multiple mobile robots collaboration system's networked communication platform. Ground on the idea of building networked control system based on ICE, we at last set up the networked communication platform. Finally, based on the realization of the above systems, we built a clock synchronization test platform of networked control system based on ICE. The communication system has been tested clock synchronization to verify its capability.