Motion control systems with network delay

Şabanoviç, Asif and Ohnishi, Kouhei and Yashiro, Daisuke and Şabanoviç, Nadira and Baran, Eray Abdurrahman (2010) Motion control systems with network delay. Automatika, 51 (2). pp. 119-126. ISSN 0005-1144

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In this paper motion control systems with delay in measurement and control channels are discussed and a new structure of the observer-predictor is proposed. The feature of the proposed system is enforcement of the convergence in both the estimation and prediction of the plant output in the presence of the variable, unknown delay in both measurement and in control channels. The estimation is based on the available data - undelayed control input, the delayed measurement of position or velocity and the nominal parameters of the plant - and does not require apriori knowledge of the delay. The stability and convergence is proven and selection of observer and the controller parameters are discussed. Experimental results are shown to illustrate the theoretical predictions.

Item Type:Article
Uncontrolled Keywords:Motion control; Network time delay; Observers; Disturbance observer
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1-4661 Electrical engineering. Electronics Nuclear engineering
ID Code:14269
Deposited By:Asif Şabanoviç
Deposited On:24 Aug 2010 11:47
Last Modified:25 Jul 2019 12:07

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