Robust stability analysis of an energy-efficient control in a Networked Control System with application to Unmanned Ground Vehicles

Abstract

In this paper, the robust stability and disturbance rejection performance analysis of an energy-efficient control is addressed in the framework of Networked Control System (NCS). The control scheme under study integrates periodic event-triggered control, packet-based control, time-varying Kalman filter, dual-rate control and prediction techniques, whose design is aimed at reducing energy consumption and bandwidth usage. The robust stability against time-varying model uncertainties is analyzed by means of a suficient condition based on Linear Matrix Inequalities (LMI). Finally, the effectiveness of the proposed approach is experimentally validated in a tracking control for an Unmanned Ground Vehicle (UGV), which is a battery-constrained mobile device with limited computation capacities.