RESUMO
In this work, we consider the design of power-constrained networked control systems (NCSs) and a differential entropy-based fault-detection mechanism. For the NCS design of the control loop, we consider faults in the plant gain and unstable plant pole locations, either due to natural causes or malicious intent. Since the power-constrained approach utilized in the NCS design is a stationary approach, we then discuss the finite-time approximation of the power constraints for the relevant control loop signals. The network under study is formed by two additive white Gaussian noise (AWGN) channels located on the direct and feedback paths of the closed control loop. The finite-time approximation of the controller output signal allows us to estimate its differential entropy, which is used in our proposed fault-detection mechanism. After fault detection, we propose a fault-identification mechanism that is capable of correctly discriminating faults. Finally, we discuss the extension of the contributions developed here to future research directions, such as fault recovery and control resilience.
RESUMO
This paper deals with the problem of control through a semi-reliable communication channel, such as wireless sensor networks (WSN). Particularly, the case investigated is the one where the packet loss rate of the network is time-varying due to, for instance, variation in the distance between the nodes. Considering this practical motivation, the control system is modeled using a formulation based on discrete-time Markov jump linear systems (MJLS) with non-homogeneous Markov chains (time-varying transition probabilities). New control design conditions based on parameter-dependent linear matrix inequalities are proposed in order to solve this problem. The purpose is to demonstrate that this strategy is suitable to handle the networked control problem by comparing the temporal behavior of the closed-loop system with the Markovian controller and a standard proportional-integral-derivative (PID) controller. The case study presented in the paper considers the problem of the remote control of a Vertical Take-Off and Landing (VTOL) vehicle through a wireless communication channel. The network packet loss model employed in the case study is based on data collected on a wireless network workbench, which was previously developed and validated by the authors.
RESUMO
Wireless networked control systems (WNCSs) must ensure that control systems are stable, robust and capable of minimizing the effects of disturbances. Due to the need for a stable and secure WNCS, critical wireless network variables must be taken into account in the design. As wireless networks are composed of several links, factors that indicate the performances of these links can be used to evaluate the communication system in the WNCS. This work presents a wireless network control system composed of ISA 100.11a sensors, a network manager, a controller and a wired actuator. The system controls the liquid level in the tank of the coupled tank system. In order to assess the influence of the sensor link failure on the control loop, the controller calculates the link stability and chooses an alternative link in case of instability in the current link. Preliminary tests of WNCS performance were performed to determine the minimum stability value of the link that generates an error in the control loop. Finally, the tests of the control system based on link stability obtained excellent results. Even with disturbances in the network links, the control system error remained below the threshold.