Motion control systems with network delay

Şabanoviç, Asif and Ohnishi, Kouhei and Yashiro, Daitsuke and Şabanoviç, Nadira (2009) Motion control systems with network delay. In: 35th Annual Conference of the IEEE Industrial Electronics Society - IECON 2009, Porto, Portugal

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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 the prediction of the plant output in the presence of the variable, unknown delay in both measurement and in the 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 it does not require apriori knowledge of the delay. The stability and convergence is proven and selection of observer and the controller parameters is discussed. Experimental results are shown to illustrate the theoretical predictions.
Item Type: Papers in Conference Proceedings
Uncontrolled Keywords: motion control; network time delay; observers; disturbance observer
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Asif Şabanoviç
Date Deposited: 09 Nov 2009 14:09
Last Modified: 26 Apr 2022 08:52

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