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

doi:10.1109/ACC.2015.7172166

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 proceeding › Conference contribution

11 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 language	English (US)
Title of host publication	ACC 2015 - 2015 American Control Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5294-5299
Number of pages	6
ISBN (Electronic)	9781479986842
DOIs	https://doi.org/10.1109/ACC.2015.7172166
State	Published - Jul 28 2015
Externally published	Yes
Event	2015 American Control Conference, ACC 2015 - Chicago, United States Duration: Jul 1 2015 → Jul 3 2015

Publication series

Name	Proceedings of the American Control Conference
Volume	2015-July
ISSN (Print)	0743-1619

Other

Other	2015 American Control Conference, ACC 2015
Country/Territory	United States
City	Chicago
Period	7/1/15 → 7/3/15

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/ACC.2015.7172166

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 ACC 2015 - 2015 American Control Conference (pp. 5294-5299). Article 7172166 (Proceedings of the American Control Conference; Vol. 2015-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2015.7172166

Robust time delay compensation in a wireless motion control system with double disturbance observers. / Zhang, Wenlong; Tomizuka, Masayoshi; Wei, Yi Hung et al.
ACC 2015 - 2015 American Control Conference. Institute of Electrical and Electronics Engineers Inc., 2015. p. 5294-5299 7172166 (Proceedings of the American Control Conference; Vol. 2015-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Zhang, W, Tomizuka, M, Wei, YH, Leng, Q, Han, S & Mok, AK 2015, Robust time delay compensation in a wireless motion control system with double disturbance observers. in ACC 2015 - 2015 American Control Conference., 7172166, Proceedings of the American Control Conference, vol. 2015-July, Institute of Electrical and Electronics Engineers Inc., pp. 5294-5299, 2015 American Control Conference, ACC 2015, Chicago, United States, 7/1/15. https://doi.org/10.1109/ACC.2015.7172166

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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.",

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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.

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

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