Central controller based hybrid control with communication delay compensator

Daisuke Yashiro, Dapeng Tian, Kouhei Ohnishi

研究成果: Conference contribution

10 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
ページ3129-3134
ページ数6
DOI
出版ステータスPublished - 2010 12月 1
イベント36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
継続期間: 2010 11月 72010 11月 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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