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

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

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

6 Scopus citations


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.

Original languageEnglish (US)
Title of host publication2014 American Control Conference, ACC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781479932726
StatePublished - Jan 1 2014
Externally publishedYes
Event2014 American Control Conference, ACC 2014 - Portland, OR, United States
Duration: Jun 4 2014Jun 6 2014

Publication series

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


Other2014 American Control Conference, ACC 2014
Country/TerritoryUnited States
CityPortland, OR


  • Delay systems
  • Networked control systems
  • Wireless

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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