Wireless Control Systems for Cooperative and Synchronous Motions of Multiple Machines

研究了具有协同运动和同步运动的装置的无线控制系统。由于无线信道是随机的，因此整个无线控制系统必须被视为随机系统。对于这样的系统，已经引入了基于概率的性能度量，包括运动的同步性度量。本研究项目最重要的成果是实现了自适应控制器/被控对象行为/状态的通信，实现了控制与通信的全跨层优化。这一事实是基于分析和实验的证据。

Wireless control systems formultipleplants with cooperative and synchronous motionshave been investigated. Since wireless channels arestochastic, the overall wireless control systems haveto be treated as stochastic systems. For such systems performance measures based on probabilities have been introduced, including measures of synchronicity of motions. The most important result of this research project is the fact that communication adaptive to the behavior/state of controller/plant and total cross layer optimization of control and communication are possible and effective.This fact is represented with evidences based on analysis and experiments.