End-to-end flow control using PI controller for servo control over networks

被引：0
|
作者：
Yashiro D. [1 ]
Kubo R. [1 ]
Yakoh T. [1 ]
Ohnishi K. [1 ]
机构：
[1] Department of System Design Engineering, Keio University, Kohoku-ku, Yokohama 223-8522, 3-14-1, Hiyoshi
来源：
IEEJ Transactions on Industry Applications | 2010年 / 130卷 / 03期
关键词：
Congestion; Flow control; Network; Pi controller; Servo control; UDP;
D O I：
10.1541/ieejias.130.268
中图分类号：
学科分类号：
摘要：
This paper presents a novel flow control method using a PI controller for servo control over networks. The UDP is known to be effective for motion control systems over networks such as bilateral teleoperation. However, UDP does not have a mechanism for congestion avoidance. The congestion, which causes large communication delay, jitter, and packet loss, deteriorates the performance and stability of control systems over networks. To avoid this congestion, a novel flow control method, which adjusts a packet-sending period in real time, is proposed. The validity of the proposed method is shown by simulation and experimental results. © 2010 The Institute of Electrical Engineers of Japan.
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页码：268 / 276+2
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