Central controller based hybrid control with communication delay compensator

Daisuke Yashiro, Dapeng Tian, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

This paper proposes a structure for a position/force hybrid control through network. In the case of most conventional structures, each terminal controller transmits a position/force interactively. Then these terminals calculate acceleration references by themselves. In contrast, our previous research proposed a novel structure for a position/force hybrid control through network. In this approach, a position/force is transmitted from each terminal controller to a central controller. Then, the central controller calculates acceleration references that are feedback to the terminals. This structure makes it possible to achieve mode-based hybrid controls through networks. However, this structure causes measurable steady-state error that is induced by a delay time compensator. To solve this problem, this paper introduces a delay time compensator that does not require a delay model. This compensator is applied to the central controller based hybrid control system. The validity of the proposed controller is confirmed by experiments.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages3129-3134
Number of pages6
DOIs
Publication statusPublished - 2010
Event36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
Duration: 2010 Nov 72010 Nov 10

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
CountryUnited States
CityGlendale, AZ
Period10/11/710/11/10

Fingerprint

Controllers
Communication
Time delay
Feedback
Control systems
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Yashiro, D., Tian, D., & Ohnishi, K. (2010). Central controller based hybrid control with communication delay compensator. In IECON Proceedings (Industrial Electronics Conference) (pp. 3129-3134). [5674974] https://doi.org/10.1109/IECON.2010.5674974

Central controller based hybrid control with communication delay compensator. / Yashiro, Daisuke; Tian, Dapeng; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). 2010. p. 3129-3134 5674974.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yashiro, D, Tian, D & Ohnishi, K 2010, Central controller based hybrid control with communication delay compensator. in IECON Proceedings (Industrial Electronics Conference)., 5674974, pp. 3129-3134, 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010, Glendale, AZ, United States, 10/11/7. https://doi.org/10.1109/IECON.2010.5674974
Yashiro D, Tian D, Ohnishi K. Central controller based hybrid control with communication delay compensator. In IECON Proceedings (Industrial Electronics Conference). 2010. p. 3129-3134. 5674974 https://doi.org/10.1109/IECON.2010.5674974
Yashiro, Daisuke ; Tian, Dapeng ; Ohnishi, Kouhei. / Central controller based hybrid control with communication delay compensator. IECON Proceedings (Industrial Electronics Conference). 2010. pp. 3129-3134
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