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 publicationProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
Pages3129-3134
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
Duration: 2010 Nov 72010 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

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

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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 Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society (pp. 3129-3134). [5674974] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2010.5674974