Robust time delay compensation in a wireless motion control system with double disturbance observers

Wenlong Zhang, Masayoshi Tomizuka, Yi Hung Wei, Quan Leng, Song Han, Aloysius K. Mok

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5294-5299
Number of pages6
Volume2015-July
ISBN (Print)9781479986842
DOIs
StatePublished - Jul 28 2015
Externally publishedYes
Event2015 American Control Conference, ACC 2015 - Chicago, United States
Duration: Jul 1 2015Jul 3 2015

Other

Other2015 American Control Conference, ACC 2015
CountryUnited States
CityChicago
Period7/1/157/3/15

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Zhang, W., Tomizuka, M., Wei, Y. H., Leng, Q., Han, S., & Mok, A. K. (2015). Robust time delay compensation in a wireless motion control system with double disturbance observers. In Proceedings of the American Control Conference (Vol. 2015-July, pp. 5294-5299). [7172166] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2015.7172166