Drive-by-Wi-Fi: Model-Based Control Over Wireless at 1 kHz
IEEE Transactions on Control Systems Technology(2022)
摘要
In this work, we address the problem of remotely controlling possibly unstable systems using wireless channels with communication and control rates on the order of 1 kHz. While remote control over wireless has been used for applications in the kHz control rate range via low-bitrate communication protocols such as IEEE 802.15.4 (Zigbee) and IEEE 802.15.1 (Bluetooth), this represents the first successful demonstration of remotely controlling an unstable system, namely a balancing robot, using the high-bitrate IEEE 802.11 standard (Wi-Fi) with a control/communication rate in the kHz range, thus being suitable for time-critical industrial applications. This is achieved through a suitable design of both the communication and the control layer; the Wi-Fi protocol parameters are modified to reduce communication latency while still abiding to the standard and a model-based controller is implemented using a time-varying buffered Kalman filter to compensate for the sensor-to-controller lossy communication and using a packetized predictive controller to compensate for the controller-to-actuator lossy communication. The validity of this architecture is experimentally tested on a balancing robot, which adopts off-the-shelf embedded hardware (Rasperry Pi) and software (Arduino) within an industrial-like environment where substantial channel interference is present due to coexisting Wi-Fi networks, showing major improvements compared to more traditional emulation-based architectures.
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关键词
Embedded systems,Kalman filters,networked control systems,packetized predictive control,Wi-Fi
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