Paper Info
Title
Time delay compensation in a wireless tracking control system with previewed reference
Abstract
In this paper, a wireless tracking control problem with varying time delay longer than one sampling interval is discussed, and a preview controller is employed for precise motion control. A delay-dependent system model is first introduced and a reference generator is then employed to model the previewed future reference. The system model is augmented with the reference generator and an optimal controller is synthesized to minimize a quadratic cost function of tracking errors and control inputs. A time-varying Kalman filter is designed for state estimation and feedback control. To make the Kalman filter feasible under long time delay, a linear regression model is proposed for delay estimation based on past measurements. A new wireless protocol called RT-WiFi is developed for high-speed and real-time control applications. Using the delay measurement from the RT-WiFi network, simulation studies is conducted to verify the effectiveness of the proposed algorithm.
Year
DOI
Venue
2014
10.1109/ACC.2014.6859384
ACC
Keywords
DocType
ISSN
reference generator,kalman filters,optimal control,quadratic cost function,time-varying systems,telecontrol,regression analysis,control system synthesis,state estimation,wireless,control engineering computing,networked control systems,time-varying kalman filter,delays,delay systems,feedback control,optimal controller,precise motion control,delay-dependent system model,delay measurement,tracking errors,time delay compensation,linear regression model,wireless tracking control system,wireless lan,varying time delay,rt-wifi network,wireless communication,protocols,feedforward neural networks
Conference
0743-1619
Citations 
PageRank 
References 
0
0.34
12
Authors
6
Name
Order
Citations
PageRank
Wenlong Zhang19917.19
M. Tomizuka21464294.37
Yi-Hung Wei3675.56
Quan Leng4515.19
Song Han555354.94
Aloysius K. Mok666286.52