Fractional Gain Scheduled Controller for a Networked Smart Wheel: Experimental Results

The performance of Networked Control Systems (NCS) is directly affected mainly by time-varying network delays, so a specific approach to compensate their effects is usually required during the controller design process. This paper deals with the control of an experimental platform over the Internet by applying a novel fractional gain scheduling strategy which enables an existing fractional order PI controller for efficient control over the network. The proposed controller introduces delay-adaptive gains, which are optimal with respect to the current network condition. Experimental results show the effectiveness of the proposed controller, providing significantly better system performance, especially when the network-induced delay is increased in certain circumstances.