Network Adapter for Sampled Linear Systems Under Asynchronous and Delayed Communications: Quadrotor Remote Speed Control Through Cellular Network
Abstract
This brief analyzes the stability of the feedback interconnection of a class of dissipative linear systems, and more specifically, when the signals are sampled asynchronously and there are delays in the communication channel. The analysis is done taking into account the maximum sampling time that guarantees the preservation of the small gain (MASG) values. This brief proves that this property holds in the presence of constant delays and can be preserved under certain conditions with variable delays. A$L_{2}$-gain-based transformation is used to interconnect the systems with the aim to make them have finite$L_{2}$-gain and guarantee the small gain theorem. With this transformation, the maximum sampling time that guarantees the stability of the interconnection is enlarged. The last part of this brief is devoted to the experimental application of this methodology for the remote control of the rotors speeds of a quadrotor. A performance analysis for the remote control is presented based on real experiments for a 3rd generation partnership project (3GPP) cellular network.
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Cited by
Still being checked.
- Authors
- Cano, J. M., Lopez-Martinez, M., & Acosta, J. A.
- Affiliations
- Universidad de Sevilla (ES)
- European GNSS Agency, Prague, Czech Republic
- Department Ingeniería de Sistemas y Automática, Escuela Técnica Superior de Ingeniería, Camino de los Descubrimientos s.n., Universidad de Sevilla, Seville, Spain
- ORCID
- Acosta, J. A.
- Venue
- IEEE Transactions on Control Systems Technology
- Published
- 2022-07
- Volume
- 30
- Issue
- 4
- Pages
- 1736-1741
- ISSN
- 1063-6536 (ISSN-L)
- 1558-0865
- 2374-0159
- OpenAlex
- W3198361438
- Cited by
- 4
- References
- 16
- Citations by year
- 2025: 1 · 2024: 2 · 2023: 1
- FWCI
- 0.34
- Type
- journal article
- Language
- en
- Open access
- closed
- Licence
- Locations
- IEEE Transactions on Control Systems Technology (publishedVersion)
- Funders
- PAIDI 2020 through the Project HOMPOT (PY20_00597)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Advanced Control Systems Design
- Keywords
- sampled-data systems, asynchronous sampling, communication delay, small gain theorem, dissipative systems
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