A wireless cooperative motion control system with mutual use of control signals

Abstract

This paper discusses a wireless control system for cooperative motion of machines, and clarifies the influence of packet loss on the system behavior. In performance evaluation, we focus on the synchronization of the motion of the fellow machines. In addition, using the nature of wireless, a new wireless control method is proposed for maintaining the performance under packet loss conditions. In the proposed method, each machine receives control signals destined for all machines, and the main controller also uses all state information of all machines. The additional information of other controller-plant pairs is used when the signal from the counterpart is lost. As an example of the plants, rotary inverted pendulums, which move synchronously with wireless connections in their control-feedback loops, are considered. Numerical examples confirm the superiority of the proposed method over conventional methods from the view-point of synchronization of each machine.