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Authors
D. Botturi; A. Fedrigo; P. Fiorini

Identifier
10.3182/20060906-3-IT-2910.00028

Index Terms
teleoperation systems,packet-loss,networked control system

Abstract
The objective of the research described in this paper is to develop a method to compensate data packet losses in the communication between the controller and the plant in a network-based control system and to guarantee stability and safety. We first analyze the problem of data loss and show that it can be modeled as a feedback system with variable sampling time. Then, we propose a control algorithm to compensate the data losses based on multi-modal system theory and we show its stability. Finally we present the results of simulations carried out using the NS-2 network simulation software, modified to suit the needs of network based control systems.

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