Implementation of an Internet-controlled system under variable delays

Alexandre Seuret (1) , Mireia Termens-Ballester (1) , Armand Toguyeni (1) , Samir El Khattabi (1) , Jean-Pierre Richard (2, 3)

1 LAGIS - Laboratoire d'Automatique, Génie Informatique et Signal
2 ALIEN - Algebra for Digital Identification and Estimation
3 SyNeR - Systèmes Non Linéaires et à Retards

This work deals with the control and the observation of a remote system using Internet as a communication line. The process consists in a Slave part S, with poor computing capacity, connected to a Master M through the Internet. The internal times of both M and S are synchronized thanks to a common GPS clock. The global system must ensure some speed performance whatever the delay variations. The main technical restriction is that the delays are less than some known bound, even if the framework we consider takes into account the perturbations generated by the Internet communication delays, by the packet losses and by the sampling phenomenon as well. In what concerns the design of the observer and controller, most of the theorems to be used here refer to proofs given in [14], and this will allow for focussing on the implementation aspects.

Domaines: Automatique / Robotique

Alexandre Seuret, Mireia Termens-Ballester, Armand Toguyeni, Samir El Khattabi, Jean-Pierre Richard. Implementation of an Internet-controlled system under variable delays. ETFA 2006 - 11th IEEE Conference on Emerging Technologies and Factory Automation, Sep 2006, Prague, Czech Republic. ⟨10.1109/ETFA.2006.355213⟩. ⟨hal-00385930⟩