Motion Control Systems with Network Delay

被引：0

作者：

Sabanovic, Asif ^{[1
]}

Ohnishi, Kouhei ^{[2
]}

Yashiro, Daisuke ^{[2
]}

Sabanovic, Nadira ^{[1
]}

Baran, Eray A. ^{[1
]}

机构：

[1] Sabanci Univ, Fac Engn & Nat Sci, TR-34956 Istanbul, Turkey

[2] Keio Univ, Fac Sci & Technol, Yokohama, Kanagawa 2238522, Japan

来源：

AUTOMATIKA | 2010年 / 51卷 / 02期

关键词：

Motion control; Network time delay; Observers; Disturbance observer; TIME-DELAY; TELEOPERATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 prediction of the plant output in the presence of the variable, unknown delay in both measurement and in 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 does not require apriori knowledge of the delay. The stability and convergence is proven and selection of observer and the controller parameters are discussed. Experimental results are shown to illustrate the theoretical predictions.

引用

页码：119 / 126

页数：8

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