Motion control systems with network delay

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

研究成果: Paper査読

5 被引用数 (Scopus)

抄録

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.

本文言語English
ページ2277-2282
ページ数6
DOI
出版ステータスPublished - 2009
外部発表はい
イベント35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
継続期間: 2009 11月 32009 11月 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
国/地域Portugal
CityPorto
Period09/11/309/11/5

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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