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 publicationInternational Workshop on Advanced Motion Control, AMC
Pages64-69
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata
Duration: 2010 Mar 212010 Mar 24

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CityNagaoka, Niigata
Period10/3/2110/3/24

Fingerprint

Time delay
Robust control
Feedback
Control systems
Experiments

ASJC Scopus subject areas

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

Cite this

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

Model based networked control for time-varying delay and modeling error. / Uchimura, Yutaka; Shimano, Hiroyuki.

International Workshop on Advanced Motion Control, AMC. 2010. p. 64-69 5464024.

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

Uchimura, Y & Shimano, H 2010, Model based networked control for time-varying delay and modeling error. in International Workshop on Advanced Motion Control, AMC., 5464024, pp. 64-69, 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010, Nagaoka, Niigata, 10/3/21. https://doi.org/10.1109/AMC.2010.5464024
Uchimura Y, Shimano H. Model based networked control for time-varying delay and modeling error. In International Workshop on Advanced Motion Control, AMC. 2010. p. 64-69. 5464024 https://doi.org/10.1109/AMC.2010.5464024
Uchimura, Yutaka ; Shimano, Hiroyuki. / Model based networked control for time-varying delay and modeling error. International Workshop on Advanced Motion Control, AMC. 2010. pp. 64-69
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