Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 20, Issue 1, Pages 299-307Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2013.2297151
Keywords
Motion control; networked control systems; packet loss; preview control
Categories
Funding
- National Science Foundation [CMMI-1013657]
- Global Frontier R&D Program on Human-centered Interaction for Coexistence - National Research Foundation of Korea Grant - Korean Government (MSIP) [NRF-2012M3A6A3056354]
- National Research Foundation of Korea [2012M3A6A3056354, 22A20130000116] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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In this paper, a modified preview control technique is proposed to compensate packet loss in a wireless tracking control system, where future reference signals over a finite horizon can be previewed. In order to utilize future reference information for the controller design, the system model is augmented with a reference generator whose states are the future reference signals. As a response to the packet loss that occurs in the wireless network, the preview control technique is modified by employing Bernoulli variables to represent packet loss in both controller-actuator and sensor-controller channels. The Bernoulli packet loss model, along with tracking errors and control inputs, is included in a quadratic cost function, and the optimal controller gain that minimizes the cost function is obtained by dynamic programming. A modified Kalman filter considering packet loss is utilized for full-state estimation and state feedback control. The choice of preview horizon is discussed and the performance of the proposed controller is verified by simulation and experimental results.
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