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 |
|---|---|
| Title of host publication | IECON Proceedings (Industrial Electronics Conference) |
| Pages | 2277-2282 |
| Number of pages | 6 |
| DOIs | |
| 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 |
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Keywords
- Disturbance observer
- Motion control
- Network time delay
- Observers
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Motion control systems with network delay. / Sabanovic, A.; Ohnishi, K.; Yashiro, D.; Sabanovic, N.
IECON Proceedings (Industrial Electronics Conference). 2009. p. 2277-2282 5415220.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Motion control systems with network delay
AU - Sabanovic, A.
AU - Ohnishi, K.
AU - Yashiro, D.
AU - Sabanovic, N.
PY - 2009
Y1 - 2009
N2 - 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.
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.
KW - Disturbance observer
KW - Motion control
KW - Network time delay
KW - Observers
UR - http://www.scopus.com/inward/record.url?scp=77951591888&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77951591888&partnerID=8YFLogxK
U2 - 10.1109/IECON.2009.5415220
DO - 10.1109/IECON.2009.5415220
M3 - Conference contribution
AN - SCOPUS:77951591888
SP - 2277
EP - 2282
BT - IECON Proceedings (Industrial Electronics Conference)
ER -