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Networked Control Systems with Application in the Industrial Tele-Robotics

机译：网络控制系统及其在工业远程机器人中的应用

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Networked Control Systems (NCS) are used for remote control of distributed or non- co-located systems where the control loop is closed via a communication link. Remote access to industrial robotic systems is one of the application fields where robustness and reliability of the closed loop plays a significant role.Caused by the communication chain in the control loop, there are challenging constraints that can affect the stability and performance of a closed loop. One can consider a large number of difficulties in this type of control systems, for instance unknown delay and packet drop-out. There are already a large number of methods and approaches to handle issues in the NCS and because of increasing interest of the industry, many are still being developed to improve the features of the closed loops over communication networks.This paper summarizes the existing theory of the networked control systems under communication constraints and presents an H∞ synthesis for a simple plant. Finally the results are illustrated, discussed and validated using real measurements from a robotic system.
机译：联网控制系统（NCS）用于远程控制分布式或非同一地点的系统，在这些系统中，控制回路通过通信链路闭合。远程访问工业机器人系统是闭环的鲁棒性和可靠性起着重要作用的应用领域之一，由于控制环中的通信链所造成的挑战性约束可能会影响闭环的稳定性和性能。可以考虑这种控制系统中的许多困难，例如未知的延迟和数据包丢失。在NCS中已经有大量的方法和方法来解决问题，并且由于该行业的兴趣日益浓厚，仍在开发许多方法和方法来改善通信网络中闭环的功能。通信约束下的网络控制系统，并提出了针对简单工厂的H∞综合。最后，使用机器人系统的实际测量结果对结果进行了说明，讨论和验证。

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