Development and Experiment of Networked Control Systems with Congestion Control
The purpose of this paper is to develop an autonomous vehicle system including communication networks and to demonstrate congestion controllers for networks based on state predictive control via the developed system. In the networked autonomous vehicle, t
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Abstract The purpose of this paper is to develop an autonomous vehicle system including communication networks and to demonstrate congestion controllers for networks based on state predictive control via the developed system. In the networked autonomous vehicle, the vehicle has one camera as sensor. Images from camera are sent to a computer via computer networks and are processed to recognize circumstances around the vehicle. Using the processed camera image, the vehicle is controlled over computer networks. By considering that this system uses computer networks, congestion problems are important because congestion causes instability of the whole system. For these problems, congestion controllers are designed based on the systems & control theory. In this paper, new congestion controllers are designed by using state predictive control to assure stability of computer networks. Effectiveness of congestion controllers is verified in experiments using the developed system. Keywords Networked control systems · congestion control · camera sensor · autonomous vehicle · state predictive control
1 Introduction Recently communication networks are developed widely [1] and it uses to control many machines from a distant place. For example, a surgery is done between USA and Euro using surgery manipulators. This surgery is called as laparoscope-assisted surgery. In the control engineering research area, this kind of researches are called as NCSs (Networked Control Systems) and many researches have been done [3, 4]. Takehito Azuma Department of Electrical and Electronics Engineering, Utsunomiya University, 7-1-2 Yoto, Utsunomiya 321-8585, Japan, e-mail: [email protected] Shinsaku Saijo Department of Electrical and Electronics Engineering, Utsunomiya University, 7-1-2 Yoto, Utsunomiya 321-8585, Japan
S.C. Mukhopadhyay, G.S. Gupta (eds.), Smart Sensors and Sensing Technology, c Springer-Verlag Berlin Heidelberg 2008
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T. Azuma and S. Saijo
On the other hand, one of communication networks is computer network and Internet or LAN (Local Area Network) is famous as a computer network [1, 2]. A main problem in the computer network is to transfer data smoothly in the network. If data transfer is not smooth, the network is busy and this status is called as congestion. It is possible to avoid congestion in the computer network by using systems & control theory. Some researches focus on this problem and some methods are proposed [5, 6]. In this paper, NCSs and congestion problems in the computer network are both considered, a NCSs is developed actually and a congestion controller is designed based on state predictive control. Moreover some experiments are done in the developed NCSs and the efficacy of congestion controllers is verified in the real networked system. It seems original to show the efficacy of congestion controllers in the developed NCSs. Firstly an autonomous vehicle system including computer networks is developed In the system, the vehicle can be controlled via radio transmission and a camera is mounted on t
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