Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems

The nature of wireless propagation may reduce the QoS of the applications, such that some packages can be delayed or lost. For this reason, the design of wireless control applications must be faced in a holistic way to avoid degrading the performance of the control algorithms. This paper is aimed at...

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Autores principales:	Isidro Calvo, Eneko Villar, Cristian Napole, Aitor Fernández, Oscar Barambones, José Miguel Gil-García
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	industrial internet of things (IIoT) wireless control systems industry 4.0 XBee LabVIEW fuzzy control Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/5a107859392d46b9af6b8b214bf96a3d
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id	oai:doaj.org-article:5a107859392d46b9af6b8b214bf96a3d
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spelling	oai:doaj.org-article:5a107859392d46b9af6b8b214bf96a3d2021-11-11T19:07:00ZReliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems10.3390/s212171071424-8220https://doaj.org/article/5a107859392d46b9af6b8b214bf96a3d2021-10-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/21/7107https://doaj.org/toc/1424-8220The nature of wireless propagation may reduce the QoS of the applications, such that some packages can be delayed or lost. For this reason, the design of wireless control applications must be faced in a holistic way to avoid degrading the performance of the control algorithms. This paper is aimed at improving the reliability of wireless control applications in the event of communication degradation or temporary loss at the wireless links. Two controller levels are used: sophisticated algorithms providing better performance are executed in a central node, whereas local independent controllers, implemented as back-up controllers, are executed next to the process in case of QoS degradation. This work presents a reliable strategy for switching between central and local controllers avoiding that plants may become uncontrolled. For validation purposes, the presented approach was used to control a planar robot. A Fuzzy Logic control algorithm was implemented as a main controller at a high performance computing platform. A back-up controller was implemented on an edge device. This approach avoids the robot becoming uncontrolled in case of communication failure. Although a planar robot was chosen in this work, the presented approach may be extended to other processes. XBee 900 MHz communication technology was selected for control tasks, leaving the 2.4 GHz band for integration with cloud services. Several experiments are presented to analyze the behavior of the control application under different circumstances. The results proved that our approach allows the use of wireless communications, even in critical control applications.Isidro CalvoEneko VillarCristian NapoleAitor FernándezOscar BarambonesJosé Miguel Gil-GarcíaMDPI AGarticleindustrial internet of things (IIoT)wireless control systemsindustry 4.0XBeeLabVIEWfuzzy controlChemical technologyTP1-1185ENSensors, Vol 21, Iss 7107, p 7107 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	industrial internet of things (IIoT) wireless control systems industry 4.0 XBee LabVIEW fuzzy control Chemical technology TP1-1185
spellingShingle	industrial internet of things (IIoT) wireless control systems industry 4.0 XBee LabVIEW fuzzy control Chemical technology TP1-1185 Isidro Calvo Eneko Villar Cristian Napole Aitor Fernández Oscar Barambones José Miguel Gil-García Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems
description	The nature of wireless propagation may reduce the QoS of the applications, such that some packages can be delayed or lost. For this reason, the design of wireless control applications must be faced in a holistic way to avoid degrading the performance of the control algorithms. This paper is aimed at improving the reliability of wireless control applications in the event of communication degradation or temporary loss at the wireless links. Two controller levels are used: sophisticated algorithms providing better performance are executed in a central node, whereas local independent controllers, implemented as back-up controllers, are executed next to the process in case of QoS degradation. This work presents a reliable strategy for switching between central and local controllers avoiding that plants may become uncontrolled. For validation purposes, the presented approach was used to control a planar robot. A Fuzzy Logic control algorithm was implemented as a main controller at a high performance computing platform. A back-up controller was implemented on an edge device. This approach avoids the robot becoming uncontrolled in case of communication failure. Although a planar robot was chosen in this work, the presented approach may be extended to other processes. XBee 900 MHz communication technology was selected for control tasks, leaving the 2.4 GHz band for integration with cloud services. Several experiments are presented to analyze the behavior of the control application under different circumstances. The results proved that our approach allows the use of wireless communications, even in critical control applications.
format	article
author	Isidro Calvo Eneko Villar Cristian Napole Aitor Fernández Oscar Barambones José Miguel Gil-García
author_facet	Isidro Calvo Eneko Villar Cristian Napole Aitor Fernández Oscar Barambones José Miguel Gil-García
author_sort	Isidro Calvo
title	Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems
title_short	Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems
title_full	Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems
title_fullStr	Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems
title_full_unstemmed	Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems
title_sort	reliable control applications with wireless communication technologies: application to robotic systems
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/5a107859392d46b9af6b8b214bf96a3d
work_keys_str_mv	AT isidrocalvo reliablecontrolapplicationswithwirelesscommunicationtechnologiesapplicationtoroboticsystems AT enekovillar reliablecontrolapplicationswithwirelesscommunicationtechnologiesapplicationtoroboticsystems AT cristiannapole reliablecontrolapplicationswithwirelesscommunicationtechnologiesapplicationtoroboticsystems AT aitorfernandez reliablecontrolapplicationswithwirelesscommunicationtechnologiesapplicationtoroboticsystems AT oscarbarambones reliablecontrolapplicationswithwirelesscommunicationtechnologiesapplicationtoroboticsystems AT josemiguelgilgarcia reliablecontrolapplicationswithwirelesscommunicationtechnologiesapplicationtoroboticsystems
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Reliable Control Applications with Wireless Communication Technologies: Application to Robotic Systems

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