Proposal of Cooperative Communication to Enhance Accuracy of Wireless Control Systems

摘要

Control systems are being changed from wired to wireless communications because of flexibility, mobility and extensibility of wireless communication systems; however the reliability of wireless communications is suspected. In this paper, we propose cooperative communication scheme for wireless control systems which consist of a controller and multiple machines; these machines cooperatively work in a group and for the same duty. In the proposed method, the controller can communicate with machines directly or via other machines, whereas in the conventional method, the controller only communicates with machines directly. The simple 2-link arm plant is used to evaluate our proposed system, and the simulation results indicate that the proposed method is more accurate, and more stable than the conventional method.