Efficient control of a SmartWheel via Internet with compensation of variable delays

• We control an experimental platform through the Internet.
• The efficient control arises from compensating variable network-induced delays.
• The proposed strategy combines gain scheduling together with fractional order control.
• Fractional gain scheduled control shows superior performance.

Control through networks requires effective strategies due to the presence of induced phenomena. This paper deals with the compensation of the effects of time-varying delays when controlling a delay-dominated system, called SmartWheel (SW), over the Internet in the framework of fractional order control (FOC). In particular, the gains of a nominal fractional order PIα controller, designed for a local purpose, are adapted with respect to the current delay condition to perform an efficient control over the network. The quadratic stability of the controlled system is proved by a frequency domain method on the basis of switching systems theory. Experimental and simulated results are given to show the effectiveness of the proposed control strategy, referred to the significantly better system performance in comparison with the application of the nominal PIα, especially for large Internet-induced delays.