NDLI: Time delay compensation in a wireless tracking control system with previewed reference

Content Provider	IEEE Xplore Digital Library
Author	Wenlong Zhang Tomizuka, M. Yi-Hung Wei Quan Leng Song Han Mok, A.K.
Copyright Year	2014
Description	Author affiliation: Dept. of Comput. Sci., Univ. of Texas, Austin, TX, USA (Yi-Hung Wei; Quan Leng; Mok, A.K.) \|\| Dept. of Mech. Eng., Univ. of California, Berkeley, Berkeley, CA, USA (Wenlong Zhang; Tomizuka, M.) \|\| Dept. of Comput. Sci., Univ. of Connecticut, Storrs, CT, USA (Song Han)
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.
Starting Page	3293
Ending Page	3298
File Size	269143
Page Count	6
File Format	PDF
ISBN	9781479932726
ISSN	07431619
e-ISBN	9781479932740
DOI	10.1109/ACC.2014.6859384
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-06-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Delays Delay effects Feedforward neural networks Kalman filters Wireless communication Protocols Delay systems Networked control systems Wireless
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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