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Motion Control Systems With Network Delay

Asif Šabanović   ORCID icon 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

Puni tekst: engleski, pdf (783 KB) str. 119-126 preuzimanja: 826* citiraj
APA 6th Edition
Šabanović, A., Ohnishi, K., Yashiro, D., Šabanović, N. i Baran, E.A. (2010). Motion Control Systems With Network Delay. Automatika, 51 (2), 119-126. Preuzeto s https://hrcak.srce.hr/56266
MLA 8th Edition
Šabanović, Asif, et al. "Motion Control Systems With Network Delay." Automatika, vol. 51, br. 2, 2010, str. 119-126. https://hrcak.srce.hr/56266. Citirano 25.06.2019.
Chicago 17th Edition
Šabanović, Asif, Kouhei Ohnishi, Daisuke Yashiro, Nadira Šabanović i Eray A. Baran. "Motion Control Systems With Network Delay." Automatika 51, br. 2 (2010): 119-126. https://hrcak.srce.hr/56266
Harvard
Šabanović, A., et al. (2010). 'Motion Control Systems With Network Delay', Automatika, 51(2), str. 119-126. Preuzeto s: https://hrcak.srce.hr/56266 (Datum pristupa: 25.06.2019.)
Vancouver
Šabanović A, Ohnishi K, Yashiro D, Šabanović N, Baran EA. Motion Control Systems With Network Delay. Automatika [Internet]. 2010 [pristupljeno 25.06.2019.];51(2):119-126. Dostupno na: https://hrcak.srce.hr/56266
IEEE
A. Šabanović, K. Ohnishi, D. Yashiro, N. Šabanović i E.A. Baran, "Motion Control Systems With Network Delay", Automatika, vol.51, br. 2, str. 119-126, 2010. [Online]. Dostupno na: https://hrcak.srce.hr/56266. [Citirano: 25.06.2019.]

Sažetak
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.

Ključne riječi
Motion Control; Network Time Delay; Observers; Disturbance Observer

Hrčak ID: 56266

URI
https://hrcak.srce.hr/56266

[hrvatski]

Posjeta: 1.125 *