Predictive control of multiple UGVs in a NCS with adaptive bandwidth allocation
Bryan R. Klingenberg, Unnati Ojha, Mo–Yuen Chow · 2009
In network based path tracking control of systems with multiple unmanned ground vehicles (UGVs), performance can be affected by network constraints including time-varying network delays and bandwidth limitations. Network delay has previously been compensated for using smith predictor based techniques and gain scheduling to limit UGV motion. The predictive gain scheduler introduced in this paper uses the predicted trajectory and future path to maximize allowable travel while considering the network delay. On the other hand, bandwidth management has been approached by optimizing total bandwidth usage under performance constraints. However, by optimizing the performance of the UGVs under bandwidth constraints, the total networked control system performance increases.