Analysis and Implementation of a Model-free Approach in Network-induced Delay Compensation for Remote Control Systems

Chieng Liang Lai*, Pau-Lo Hsu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Scopus citations

Abstract

With the rapid development and implementation of Internet technologies, well-designed/tuned controllers obtained from control design without network are desired, which can be further realized in remote control systems directly. Theoretically, available networked control system (NCS) designs are developed with a known system model and time delay. However, the nature of network-induced delay is unpredictable, which depends on network protocol and hardware, and available design approaches usually become impractical in real concerns. The study presents an NCS structure with the proposed perfect delay compensation (PDC) scheme, which is constructed with modified butterfly elements to deal with unknown delay effects without system model and delay information. Both analytical and simulation results prove that the proposed model-free PDC scheme effectively compensates for the unknown network-induced delays. Furthermore, the proposed PDC is carried out using Ethernet, and a well-tuned PI controller for the AC servo motor was directly networked to the remote control system. Experimental results indicate that the proposed PDC renders satisfactory and desirable design results in real NCS applications.
Original languageEnglish
Title of host publication2011 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA)
PublisherIEEE
Pages1250-1255
ISBN (Print)978-1-4577-1063-6
StatePublished - 2011
Event IEEE International Conference on Control Applications (CCA) - Denver, CO, Denver, United States
Duration: 28 Sep 201130 Sep 2011

Publication series

Name IEEE International Conference on Control Applications
PublisherIEEE
ISSN (Print)1085-1992

Conference

Conference IEEE International Conference on Control Applications (CCA)
CountryUnited States
CityDenver
Period28/09/1130/09/11

Keywords

  • DESIGN

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    Lai, C. L., & Hsu, P-L. (2011). Analysis and Implementation of a Model-free Approach in Network-induced Delay Compensation for Remote Control Systems. In 2011 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA) (pp. 1250-1255). ( IEEE International Conference on Control Applications). IEEE.