TY - GEN

T1 - Synchronization of Nonlinear Systems Over Intranet: Cart-Pendulum Case Study

AU - Ananyevskiy, M.S.

AU - Seifullaev, R.E.

AU - Nikitin, D.A.

AU - Fradkov, A.L.

PY - 2014

Y1 - 2014

N2 - The master-slave synchronization problem for two cart-pendulum systems when both measurement and control signals are transmitted via intranet communication channel is examined. The speed-gradient method for exciting master system and linear state feedback for slave system is used. Theoretical analysis is performed by the nonlinear extension of Fridman’s method. Experimental results are presented for a cart-pendulum system constructed from Lego. Theoretical bound for sampling interval guaranteeing synchronization is about h=0.1 sec. Such bounds are positive for control over intranet and very negative for control over internet. However experiments show that real values of the communication delays are even bigger.

AB - The master-slave synchronization problem for two cart-pendulum systems when both measurement and control signals are transmitted via intranet communication channel is examined. The speed-gradient method for exciting master system and linear state feedback for slave system is used. Theoretical analysis is performed by the nonlinear extension of Fridman’s method. Experimental results are presented for a cart-pendulum system constructed from Lego. Theoretical bound for sampling interval guaranteeing synchronization is about h=0.1 sec. Such bounds are positive for control over intranet and very negative for control over internet. However experiments show that real values of the communication delays are even bigger.

U2 - 10.1109/CCA.2014.6981494

DO - 10.1109/CCA.2014.6981494

M3 - Conference contribution

SN - 9781479974092

SP - 1214

EP - 1219

BT - IEEE International Conference on Control Applications (CCA) Oct. 8-10, 2014. Antibes, France

ER -