Control of multiple networked passive plants with delays and data dropouts

TitleControl of multiple networked passive plants with delays and data dropouts
Publication TypeConference Paper
Year of Publication2008
AuthorsKottenstette, N., and P. J. Antsaklis
Conference Name2008 American Control Conference
Date Published06/2008
PublisherIEEE
Conference LocationSeattle, WA, USA
Abstract

This paper provides a framework to synthesize lm2-stable and Lm2-stable control networks in which m strictly-output passive controllers can control n - m strictly-output passive plants. The communication between the plants and controllers can tolerate time varying delay and data dropouts. In particular, we introduce a power junction which allows even a single controller (typically designed to control a single plant) to accurately control the position of multiple plants even if the dynamics of the plants are different. An illustrative simulated example shows the position tracking performance of the system. We conclude the discussion with two questions for future research.