Distributed control of systems over communication networks | Posted on:2001-01-08 | Degree:Ph.D | Type:Thesis | University:University of Pennsylvania | Candidate:Goktas, Faik | Full Text:PDF | GTID:2468390014452117 | Subject:Computer Science | Abstract/Summary: | | In distributed control systems that operate with multimedia data over communication networks, meeting the application requirements for the control system and the multimedia communication is a challenging task. We are interested in direct control of remote systems where control and monitoring information are transmitted continuously between the end-systems. The control loop in such distributed systems contains time-varying delays that occur because of shared network medium, shared computing resources and unsynchronized components at the end-systems. From a control theory perspective, the time-varying delays in a feedback control loop affect the stability and performance of the control system. The difficulty in analysis and synthesis of time-delayed control systems arises due to modeling of these delays. We propose a robust control approach which guarantees robust performance with the assumption that the delay bounds are known. Our proposed DisCoNet architecture is based on multidimensional QoS specification and end-to-end resource allocation. The QoS specification includes a guaranteed robust control performance level and a given frame rate for the video transfer. Experimental results are given for a mobile robot tracking control application over ATM networks. We show that with efficient QoS mapping and end-to-end resource allocation, direct continuous control of remote systems is possible over reservation-based communication networks even when other multimedia data (video, audio) are incorporated into the control environment. | Keywords/Search Tags: | Systems, Over, Communication, Networks, Distributed, Multimedia | | Related items |
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