packet dropout
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2022 ◽  
Vol 9 (3) ◽  
pp. 0-0

The acceptance of tele-robotics and teleoperations through networked control system (NCS) is increasing day-by-day. NCS involves the feedback control loop system wherein the control components such as actuators and sensors are controlled and allowed to share their feedback over real time network with distributed users spread geographically. The performance and surgical complications majorly depend upon time delay, packet dropout and jitter induced in the system. The delay of data packet to the receiving side not only causes instability but also affect the performance of the system. In this article, author designed and simulate the functionality of a model-based Smith predictive controller. The model and randomized error estimations are employed through Markov approach and Kalman techniques. The simulation results show a delay of 49.926ms from master controller to slave controller and 79.497ms of delay from sensor to controller results to a total delay of 129.423ms. This reduced delay improve the surgical accuracy and eliminate the risk factors to criticality of patients’ health.


Author(s):  
Ahmad M. El-Nagar ◽  
Tarek R. Khalifa ◽  
Mohamed A. El-Brawany ◽  
Mohammad El-Bardini ◽  
Essam A.G. El-Araby

2021 ◽  
Vol 13 (3) ◽  
pp. 91-106
Author(s):  
Kamran MOHAJERI ◽  
Ali MADADI ◽  
Babak TAVASSOLI

This paper deals with the analysis of the stability of networked control systems (NCS). In NCS, the signal transmission between the plant and the controller is done through a communication network. Usually, this data transmission faces packet delay and dropout. Two types of NCS modeling for networks with packet dropout and one type of modeling for networks with packet delays are introduced. These models are of discrete-time switched linear types and there may be constraints on the order of the subsystems’ occurrence. The analysis will be conservative if these constraints are not taken into account. It is shown that by considering these constraints, the stability analysis will be less conservative. Both deterministic and stochastic analyses are considered and compared.


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