Motion control systems with network delay

A. Sabanovic; K. Ohnishi; D. Yashiro; N. Sabanovic

doi:10.1109/IECON.2009.5415220

Motion control systems with network delay

A. Sabanovic, K. Ohnishi, D. Yashiro, N. Sabanovic

Department of System Design Engineering

Research output: Contribution to conference › Paper

4 Citations (Scopus)

Abstract

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.

Original language	English
Pages	2277-2282
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2009.5415220
Publication status	Published - 2009
Event	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal Duration: 2009 Nov 3 → 2009 Nov 5

Other

Other	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
Country	Portugal
City	Porto
Period	09/11/3 → 09/11/5

Keywords

Disturbance observer
Motion control
Network time delay
Observers

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2009.5415220

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Cite this

Sabanovic, A., Ohnishi, K., Yashiro, D., & Sabanovic, N. (2009). Motion control systems with network delay. 2277-2282. Paper presented at 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009, Porto, Portugal. https://doi.org/10.1109/IECON.2009.5415220

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doi = "10.1109/IECON.2009.5415220",

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AU - Ohnishi, K.

AU - Yashiro, D.

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AB - 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.

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