Guo Ge

Quantized feedback control of networked systems with constrained communication capacity

This paper is concerned with the joint design of quantized feedback control and dynamic scheduling for networked control systems with constrained communication capacity. A new discrete-time switched system is proposed to the networked control system subject to both communication constraints and input quantization. By using Lyapunov stability theory, sufficient conditions of mode- and quantization-dependent robust stabilization and a quantized feedback controller are derived for networked control system. Based on the model of switched system, a dynamic scheduling policy is designed to guarantee the asymptotic stability of close-loop system. An illustrative example is finally given to show the effectiveness of the proposed method.

Object Tracking by Kalman Filtering and Recursive Least Squares Based on 2D Image Motion

This paper proposes a novel tracking strategy that can robustly track an object within a fixed environment. We define a robust model-based tracker using Kalman filtering combined with recursive least squares. The tracking is done by fitting successively more elaborate models on the tracked region and the segmentation is done by extracting the regions of the image that are consistent with the computed model of the target. We adopt a competitive and efficient dynamic Kalman filtering to adaptively update the object model by adding new stable features as well as deleting inactive features. The approach is implemented on FIRA Mirosot and tested in the context of ball tracking in the FIRA domain. The implementation of our approach has been proven to be efficient and robust.

Output Feedback of Model-based Networked Control Systems with Multi-rate Input Sampling

In this paper,control problem of model-based networked control systems (MB-NCSs) with multi-rate input sampling is considered. Two classes of transmission policies termed as perfect transmission and delay transmission are investigated. Output feedback control of the system under the two transmission policies are studied respectively. Necessary and sufficient conditions for system to be globally exponentially stable are derived.

Augmented State Pole-Placement for Networked Control System with Time-Delay

In this paper, modeling and control problem of networked control system with communication network between sensor and controller are considered. The time-delay is known to the controller node by use of timestamping and the standard discrete state-space model is established by introducing state augumentation for both short and long time-delay. Then, the controller is designed by augmented state pole-placement algorithm. Simulation results show the validity of the controller design method and the effectiveness of the algorithm.

Co-design of controller and communication sequences

The problem of co-design of controller and communication sequence is addressed for networked control systems (NCSs) where the capacities of communication networks at both sides of the system are limited so that the sensors and the actuators cannot be accommodated simultaneously. The co-design problem is solved in three steps: determining feasible communication sequence sets for both sides; building output feedback controllers on the feasible communication sequence sets; setting up switching rules for the communication sequences based on the designed controller. Particularly, in the first step we find all the communication sequences that preserve controllability and observability of the plant; then in the second step we derive an output feedback controller applicable for all these communication sequences; and finally we establish a switching strategy for the communication sequences to switch among their feasible sets.