%0 Conference Paper
%B 46th IEEE Conference on Decision and Control
%D 2007
%T Stable digital control networks for continuous passive plants subject to delays and data dropouts
%A Kottenstette, Nicholas
%A Antsaklis, Panos J.
%C New Orleans, LA
%I IEEE
%R 10.1109/CDC.2007.4434752
%U http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4434752&isnumber=4434000
%X This paper provides a framework to synthesize l2- stable networks in which the controller and plant can be subject to delays and data dropouts. This framework can be applied to control systems which use "soft-real-time" cooperative schedulers as well as those which use wired and wireless network feedback. The approach applies to passive plants and controllers that can be either linear, nonlinear, and (or) time-varying. This framework is based on fundamental results presented here related to passive control and scattering theory which are used to design passive force-feedback telemanipulation systems. Theorem 3 states how a (non)linear (strictly input or strictly output) passive plant can be transformed to a discrete (strictly input) passive plant using a particular digital sampling and hold scheme. Furthermore, theorem 4(5) provide new sufficient conditions for l2 (and L2)-stability in which a strictly - output passive controller and plant are interconnected with only wave-variables. Lemma 2 shows it is sufficient to use discrete wave-variables when data is subject to fixed time delays and dropouts in order to maintain passivity. Lemma 3 shows how to safely handle time varying discrete wave-variable data in order to maintain passivity. We then present a new cooperative scheduler algorithm to implement a I2-stable control network. We also provide an illustrative simulated example followed by a discussion of future research.
%8 12/2007
%@ 978-1-4244-1497-0