Robust distributed control for a mechanical-electrical demonstrator considering communication constraints

摘要

Networked control systems are currently very common. In the YETE project, it is attempted to construct a system of nodes, which are interconnected by some means of communication, to perform different tasks. Among these tasks is controlling the formation of satellites or robots, depending on where the system is used. Apart from distributed computing, distributed control is a major goal. In this paper, we present the current state of the distributed control algorithm in the form of a demonstrator, which we have used to perform tests and obtain results. Furthermore, we provide a brief overview of relevant networked control literature.