论文标题
网络控制系统的嵌入式模型控制：实验案例研究 - 稳定性分析和进一步的结果
Embedded Model Control of Networked Control Systems: an Experimental Case-study -- Stability analysis and further results
论文作者
论文摘要
在网络控制系统（NCS）中，循环中缺少物理通信链接会导致相关问题，例如测量延迟和控制命令的异步执行。这些问题可能导致不必要的控制行为。该ARXIV论文旨在为“网络控制系统的嵌入式模型控制：实验案例研究”中提出的工作提供更多结果。最后一种基于嵌入式模型控制的原始方法，以处理以异步控制时机为特征的实验场景。通过差分驱动机器人证明了所提出的方法的有效性，首先是高保真模拟的，最后是几项实验测试。具体而言，目前的工作旨在研究EMC实验设置的稳定性分析，并给出进一步的实验结果，以补充主要论文中提出的“网络控制系统的嵌入式模型控制系统：实验性案例研究”。
In Networked Control Systems (NCS), the absence of physical communication links in the loop leads to relevant issues, such as measurement delays and asynchronous execution of the control commands. These issues may lead to unwanted control behaviours. This ArXiv paper is intended to give additional results to the work presented in "Embedded Model Control of Networked Control Systems: an Experimental Case-study". The last one presents an original approach, based on the Embedded Model Control, to deal with experimental scenarios characterized by asynchronous control timing. The effectiveness of the proposed approach is demonstrated with a differential-drive robot, first with high-fidelity simulations and finally with several experimental tests. Specifically, the present work aims to study the stability analysis of the EMC experimental setup and to give further experimental results, to complement those presented in the main paper, "Embedded Model Control of Networked Control Systems: an Experimental Case-study".
