Network based control with compensation of time-varying delay and modeling error

Yutaka Uchimura, Hiroyuki Shimano

研究成果: Paper査読

抄録

This paper describes a control method which compensates two factors in a network based control system: one is a time-varying delay on a network communication and the other is a modeling error due to uncertainty of the plant. For the time-varying delay, we model it with an accurate modeling by measuring the individual time delays, and utilize them for the model-based compensator. Because the time delay on the network is not completely uncertain but measurable value. If the values are known and explicitly used for the control, performance improves. In contrast, the perfect dynamics modeling of the plant is very difficult and the real plant may vary its property due to the variation of loads or deterioration through aging, therefore the modeling error is inevitable. The modeling error is considered to be a loop gain variation (multiplicative uncertainty) with phase delay due to the time delay. Therefore, we propose a compensator which is designed based on robust control theory for the uncertainty of the plant. To evaluate the performance of the proposed system, we carried out simulations and experiments on a motor control system. From the results, we verified the stability and satisfactory performance of the system with the proposed methods.

本文言語English
ページ3013-3018
ページ数6
DOI
出版ステータスPublished - 2009 12 1
イベント35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
継続期間: 2009 11 32009 11 5

Conference

Conference35th 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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