TY - GEN
T1 - End-to-end flow control using pi controller for force control system over TCP/IP network
AU - Yashiro, Daisuke
AU - Yakoh, Takahiro
AU - Ohnishi, Kouhei
PY - 2009/11/16
Y1 - 2009/11/16
N2 - This paper presents a novel flow control method using PI controller for motion control system over network. UDP/IP protocol is known to be effective for motion control systems over network such as bilateral control system. However, UDP does not have a mechanism of congestion avoidance. The congestion, which causes large communication delay, jitter and packet loss, significantly deteriorates performance and stability of motion control systems. To avoid this congestion, a novel congestion control method, which adjusts a packet-sending period in real time, is proposed. The validity of the proposed method is shown by simulation and experimental results.
AB - This paper presents a novel flow control method using PI controller for motion control system over network. UDP/IP protocol is known to be effective for motion control systems over network such as bilateral control system. However, UDP does not have a mechanism of congestion avoidance. The congestion, which causes large communication delay, jitter and packet loss, significantly deteriorates performance and stability of motion control systems. To avoid this congestion, a novel congestion control method, which adjusts a packet-sending period in real time, is proposed. The validity of the proposed method is shown by simulation and experimental results.
UR - http://www.scopus.com/inward/record.url?scp=71049146355&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=71049146355&partnerID=8YFLogxK
U2 - 10.1109/INDIN.2009.5195802
DO - 10.1109/INDIN.2009.5195802
M3 - Conference contribution
AN - SCOPUS:71049146355
SN - 9781424437603
T3 - IEEE International Conference on Industrial Informatics (INDIN)
SP - 194
EP - 199
BT - 2009 7th IEEE International Conference on Industrial Informatics, INDIN 2009
T2 - 2009 7th IEEE International Conference on Industrial Informatics, INDIN 2009
Y2 - 23 June 2009 through 26 June 2009
ER -