Tuesday, March 03, 2015, 11:00 - 12:00
Room 02-012, Georges-Köhler Allee 102, Freiburg 79110, Germany
The talk consists of two parts. The first part provides an overview of the networked control architecture of the industrial robot control KR-C4 by KUKA Robotics. The focus is placed on the multi-axis torque control of the induction machines in whose development I participated at the Lenze Automation GmbH.
In the second part of the talk, networked control systems (i.e. feedback systems that are closed via networks) are discussed in a more general form. In particular, time-varying delays and data losses occurring in the networks are identified as major challenges of the general networked control setup. The concept of sequence-based control is introduced that uses a predictive approach to mitigate these two network effects. Finally, recent results on stochastic optimal sequence-based control are presented extending the well-known LQG (Linear Quadratic Gaussian) controller to the sequence-based setup.