TY - GEN
T1 - Robust time delay compensation in a wireless motion control system with double disturbance observers
AU - Zhang, Wenlong
AU - Tomizuka, Masayoshi
AU - Wei, Yi Hung
AU - Leng, Quan
AU - Han, Song
AU - Mok, Aloysius K.
N1 - Publisher Copyright:
© 2015 American Automatic Control Council.
PY - 2015/7/28
Y1 - 2015/7/28
N2 - Time delay is a common phenomenon which can be varying and unknown in many networked motion control systems. Since time delay negatively affects the stability and tracking performance, it needs to be carefully handled in controller design. Moreover, both external disturbance and sensor noise exist in such systems, which makes the controller design more challenging. In this paper, a double disturbance observer (DDOB) structure is proposed to handle time delay, external disturbance, and measurement noise simultaneously. Design of disturbance observers (DOBs) and baseline controllers are elaborated. An RT-WiFi wireless network is developed for high-speed and real-time control applications. The RT-WiFi network is integrated with a DC motor and its performance is examined. Simulation and experimental results are demonstrated to verify the effectiveness of the proposed algorithm.
AB - Time delay is a common phenomenon which can be varying and unknown in many networked motion control systems. Since time delay negatively affects the stability and tracking performance, it needs to be carefully handled in controller design. Moreover, both external disturbance and sensor noise exist in such systems, which makes the controller design more challenging. In this paper, a double disturbance observer (DDOB) structure is proposed to handle time delay, external disturbance, and measurement noise simultaneously. Design of disturbance observers (DOBs) and baseline controllers are elaborated. An RT-WiFi wireless network is developed for high-speed and real-time control applications. The RT-WiFi network is integrated with a DC motor and its performance is examined. Simulation and experimental results are demonstrated to verify the effectiveness of the proposed algorithm.
UR - http://www.scopus.com/inward/record.url?scp=84940922655&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84940922655&partnerID=8YFLogxK
U2 - 10.1109/ACC.2015.7172166
DO - 10.1109/ACC.2015.7172166
M3 - Conference contribution
AN - SCOPUS:84940922655
T3 - Proceedings of the American Control Conference
SP - 5294
EP - 5299
BT - ACC 2015 - 2015 American Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 American Control Conference, ACC 2015
Y2 - 1 July 2015 through 3 July 2015
ER -