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Summary: Passivity-Based Design of Wireless Networked Control Systems for Robustness
to Time-Varying Delays
Nicholas Kottenstette, Xenofon Koutsoukos,
Joseph Hall, Janos Sztipanovits
ISIS/Vanderbilt University
Panos Antsaklis
University of Notre Dame
Abstract
Real-life cyber-physical systems, such as automotive ve-
hicles, building automation systems, and groups of un-
manned vehicles are monitored and controlled by net-
worked control systems. The overall system dynamics
emerges from the interaction among physical dynamics,
computational dynamics, and communication networks.
Network uncertainties such as time-varying delay and
packet loss cause significant challenges. This paper pro-
poses a passive control architecture for designing wireless
networked control systems that are insensitive to network
uncertainties. We describe the architecture for a system
consisting of a robotic manipulator controlled by a digi-
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