Original scientific paper

Motion Control Systems With Network Delay

Asif Šabanović orcid.org/0000-0002-2783-9354 ; Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey
Kouhei Ohnishi ; Faculty of Science and Technology, Keio University, Yokohama, Japan
Daisuke Yashiro ; Faculty of Science and Technology, Keio University, Yokohama, Japan
Nadira Šabanović ; Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey
Eray A. Baran ; Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey

Abstract

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.

Keywords

Motion Control; Network Time Delay; Observers; Disturbance Observer

Hrčak ID:

56266

URI

https://hrcak.srce.hr/56266

Publication date:

29.6.2010.

Article data in other languages: croatian

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