Motion control systems with network delay

Asif Šabanović, Kouhei Ohnishi, Daisuke Yashiro, Nadira Šabanović, Eray A. Baran

Research output: Contribution to journalArticle

26 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 prediction of the plant output in the presence of the variable, unknown delay in both measurement and in 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 does not require apriori knowledge of the delay. The stability and convergence is proven and selection of observer and the controller parameters are discussed. Experimental results are shown to illustrate the theoretical predictions.

Original languageEnglish
Pages (from-to)119-126
Number of pages8
JournalAutomatika
Volume51
Issue number2
DOIs
Publication statusPublished - 2010 Jun

Keywords

  • Disturbance observer
  • Motion control
  • Network time delay
  • Observers

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

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    Šabanović, A., Ohnishi, K., Yashiro, D., Šabanović, N., & Baran, E. A. (2010). Motion control systems with network delay. Automatika, 51(2), 119-126. https://doi.org/10.1080/00051144.2010.11828363