Internet of Things based framework for trajectory tracking control

Controlling physical devices from remote places have become necessity in today's practice. These kind of operations require a proper infrastructure which ties all kinds of devices (sensors, actuators, plant etc.) along with the controllers at remote places (either centralized or decentralized) using a communication medium. The heterogeneity of platforms is a challenge to integration of all these aspects. The use of Internet of Things (IoT) provides connectivity across several devices and platforms. The paper presents IoT based real time trajectory tracking by a vehicle. The controller at a far off place devises control actions relying on the information obtained from sensors. The control actions are then sent to actuators through the communication channel so that vehicle tracks the reference trajectory efficiently. The sliding mode controller is used which decides the control actions on the basis of objective function. The framework works on a non uniformly sized control interval consisting of variable number of sampling instants of fixed length. The objective function considers the system states, time interval and also the control and communication constraints (delays and packet losses). The developed algorithm based on IoT shows a proper convergence to the reference trajectory.