New constrained predictive PID controller for packet dropouts in wireless networked control systems

Abstract

A new constrained predictive PID controller is presented to achieve stability and performance robustness in Wireless Networked Control Systems (WNCS), where the communication is subject to dropouts in both communication directions: sensor to control and control to actuator transmission. The control strategy is based on a new PID controller with similar properties to Model-Based Predictive Control (MBPC). A Kalman filter used for output prediction and a consecutive dropouts compensator have also been added to the control scheme. The purpose of this approach is to develop an estimation algorithm and a control system that maintain information of the sensor packets and the control actions. Several experiments using the TrueTime network simulator showed that the predictive PID controller performs as good as the MBPC scheme with the advantage of having a simple structure.