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

11 Scopus citations


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 publicationACC 2015 - 2015 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781479986842
StatePublished - Jul 28 2015
Externally publishedYes
Event2015 American Control Conference, ACC 2015 - Chicago, United States
Duration: Jul 1 2015Jul 3 2015

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2015 American Control Conference, ACC 2015
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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