Model based networked control for time-varying delay and modeling error

Yutaka Uchimura, Hiroyuki Shimano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a compensation scheme for both the time varying delay and the plant model uncertainty. As well known, time delay in feedback loop does not only weaken system performance, in worst-case situations it can cause system unstable. Conventional research treated the time varying delay as uncertain perturbation; however it restricts the performance of the system. In fact, the time delay on a network is not completely uncertain. That is, it is measurable value. Therefore we propose a method to measure individual time delays and utilize them for the model-based compensator. In the model based control, the modeling error between the plant model and real plant can affect the performance and stability of the system. However, perfect modeling of the plant is very difficult; therefore we employed a robust control based compensator to avoid the instability due to uncertainty. To evaluate the performance of the proposed system, we carried out experiments on a motor control system. From the results, we verified the stability and satisfactory performance of the system with the proposed methods.

Original languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages64-69
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Conference

Conference2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

    Fingerprint

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Uchimura, Y., & Shimano, H. (2010). Model based networked control for time-varying delay and modeling error. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 64-69). [5464024] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464024