IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Compensating Transmission Delay and Packet Loss in Networked Control System for Unmanned Underwater Vehicle

무인잠수정 제어시스템을 위한 네트워크 전송지연 및 패킷분실 보상기법

  • Received : 2011.04.15
  • Accepted : 2011.05.25
  • Published : 2011.06.30
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Abstract

Transmission delay and packet loss induced by a communication network can degrade the control performance and, even make the system unstable. This paper presents a method for compensating transmission delay and packet loss in a networked control system for unmanned underwater vehicle. The proposed method is based on Lagrange interpolation in order to satisfy the requirements of simplicity and model-independency. In this work, the lost/delayed data are estimated in real time by only using the past data without requiring any mathematical model of the controlled system. Consequently, the proposed method can be implemented independent of the controlled system, and also it can achieve fast and accurate compensation performance. The performance of the proposed technique is evaluated by numerical simulations with an unmanned underwater vehicle.

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References

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