Predictive input delay compensation for motion control systems

Abstract

This paper presents an analytical approach for the prediction of future motion to be used in input delay compensation of time-delayed motion control systems. The method makes use of the current and previous input values given to a nominally behaving system in order to realize the prediction of the future motion of that system. The generation of the future input is made through an integration which is realized in discrete time setting. Once the future input signal is created, it is used as the reference input of the remote system to enforce an input time delayed system, conduct a delay-free motion. Following the theoretical formulation, the proposed method is tested in experiments and the validity of the approach is verified.