@inproceedings{7c61e17817e8471499d1ece33584228a,
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.",
keywords = "Delay systems, Networked control systems, Wireless",
author = "Wenlong Zhang and Masayoshi Tomizuka and Wei, {Yi Hung} and Quan Leng and Song Han and Mok, {Aloysius K.}",
year = "2014",
month = jan,
day = "1",
doi = "10.1109/ACC.2014.6859384",
language = "English (US)",
isbn = "9781479932726",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3293--3298",
booktitle = "2014 American Control Conference, ACC 2014",
note = "2014 American Control Conference, ACC 2014 ; Conference date: 04-06-2014 Through 06-06-2014",
}