End-to-End Flow Control Using PI Controller for Servo Control over Networks

• Yashiro Daisuke

  Department of System Design Engineering, Keio University

• Kubo Ryogo

  Department of System Design Engineering, Keio University

• Yakoh Takahiro

  Department of System Design Engineering, Keio University

• Ohnishi Kouhei

  Department of System Design Engineering, Keio University

Bibliographic Information

Other Title

• ネットワークを介したサーボ制御のためのＰＩ制御器を用いた端末間フロー制御
• ネットワーク オ カイシタ サーボ セイギョ ノ タメ ノ PI セイギョキ オ モチイタ タンマツ カン フロー セイギョ

Abstract

This paper presents a novel flow control method using a PI controller for servo control over networks. The UDP is known to be effective for motion control systems over networks such as bilateral teleoperation. However, UDP does not have a mechanism for congestion avoidance. The congestion, which causes large communication delay, jitter, and packet loss, deteriorates the performance and stability of control systems over networks. To avoid this congestion, a novel flow control method, which adjusts a packet-sending period in real time, is proposed. The validity of the proposed method is shown by simulation and experimental results.

Journal

• IEEJ Transactions on Industry Applications

  IEEJ Transactions on Industry Applications 130 (3), 268-276, 2010

  The Institute of Electrical Engineers of Japan

Keywords

• flow control
• servo control
• UDP
• congestion
• network
• PI controller

Details

• CRID: 1390001204658299136
• NII Article ID: 10026229879
• NII Book ID: AN10012320
• DOI: 10.1541/ieejias.130.268
• ISSN: 13488163
• ISSN: 09136339
• NDL BIB ID: 10600718
• Web Site: http://id.ndl.go.jp/bib/10600718
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10600718
• Web Site: http://www.jstage.jst.go.jp/article/ieejias/130/3/130_3_268/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed