Wireless Data Rate Controller Design for Networked Control Applications

This paper presents a design approach for data transfer rate control algorithms meant to assure a prescribed delay in communication channels of wireless networked control systems (N CS). Three types of control algorithms are treated: P, PI and PI + Additive Increase control. Each algorithm is based on delay measurement and computes the transfer rates in the communication channels of NCSs. They are able to compensate the effect of independent communication channels with unknown rates on the expected delay value in the wireless communication medium. By assuming that the communication medium is described by the queue model, the parameters of these control algorithms are explicitly computed such to assure the stability of the closed-loop system and the steady-state control performances. Simulation measurements were performed to compare the behavior of the proposed control algorithms. The applicability of the control approach was tested in a networked bilateral teleoperation system.