Compensation of Time-Varying Delay in Networked Control System over Wi-Fi Network

International journal of computers, communications and control

Joon-Young Choi¹  Hyun-Chul Yi¹  Cheol-Jin An¹ 

[1] Pusan National University

关键词: networked control system (NCS);    Wi-Fi network;    time-varying delay;    state predictor;    rotary inverted pendulum;   

DOI  :  10.15837/ijccc.2017.3.2617

学科分类：计算机科学（综合）

来源: Universitatea Agora

【 摘 要 】

In this study, we design a state predictor-based output feedback controller that compensates for unavoidable time-varying network delays in networked control systems (NCSs) over Wi-Fi networks. We model time-varying network delays as timevarying input delays of NCSs over Wi-Fi networks. The designed controller consists of a linear quadratic regulator (LQR), a full-order observer, and a time-varying stepahead state predictor. The state predictor plays a key role in compensating for the time-varying input delay by providing the LQR with an estimation of future states ahead by the current network delay time. The time-varying network delays are acquired in real time by measuring the time differences between sent and received control data packets. We verify the stability and compensation performance of the designed controller by performing extensive experiments for an NCS in which a rotary inverted pendulum is controlled over Wi-Fi networks.

【 授权许可】

Free