IEEJ Transactions on Industry Applications
Online ISSN : 1348-8163
Print ISSN : 0913-6339
ISSN-L : 0913-6339
Special Issue Paper
End-to-End Flow Control Using PI Controller for Servo Control over Networks
Daisuke YashiroRyogo KuboTakahiro YakohKouhei Ohnishi
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2010 Volume 130 Issue 3 Pages 268-276

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Abstract
This paper presents a novel flow control method using a PI controller for servo control over networks. The UDP is known to be effective for motion control systems over networks such as bilateral teleoperation. However, UDP does not have a mechanism for congestion avoidance. The congestion, which causes large communication delay, jitter, and packet loss, deteriorates the performance and stability of control systems over networks. To avoid this congestion, a novel flow 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.
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© 2010 by the Institute of Electrical Engineers of Japan
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