The use of a shared network, as a communication channel, in a Networked Control System (NCS) can provide an economical and easily accessible resource. However, it can also result in performance degradation or even destabilization of the control system. Similar effects may arise from different operating conditions of the system. In this research, the effect of the network is compared with the effects exerted by three other parameters in an Unmanned Ground Vehicle (UGV) path-tracking problem. The system?s performance is quantified by means of three characteristics: the deviation error, the system?s runtime and the error-time product. Design of Experiments (DOE) and regression analysis are utilized to appropriately collect and analyze experimental data. For the ranges of variation studied, it is shown that the system is two times more sensitive to the speed of the vehicle than to network?s delay. The effect of the look-ahead distance is shown to be similar to the network?s delay effect, indicating a potential control strategy to alleviate the network?s effect by appropriately adjusting the look-ahead distance. The above results are drawn with respect to the completion time and the error-time product characteristics of the system. The deviation error is shown to have a more complex relationship with the four parameters studied and their effects can only be calculated locally, based on the operating conditions of the system.
| Identifer | oai:union.ndltd.org:NCSU/oai:NCSU:etd-10302007-113420 |
| Date | 29 November 2007 |
| Creators | Pelentrides, Ioannis |
| Contributors | Dr. Xun Liu, Dr. James J. Brickley, Dr. Mo-Yuen Chow |
| Publisher | NCSU |
| Source Sets | North Carolina State University |
| Language | English |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://www.lib.ncsu.edu/theses/available/etd-10302007-113420/ |
| Rights | unrestricted, I hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dis sertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to NC State University or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report. |
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