Delay-based design of feedforward tracking control for predictable embedded platforms

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

1 Citation (Scopus)
4 Downloads (Pure)

Abstract

This paper presents a design technique for feedforward tracking control targeting predictable embedded platforms. An embedded control implementation experiences sensor-to-actuator delay which in turn changes the location of the system zeros. In this work, we show that such delay changes the number of unstable zeros which influences the tracking performance. We propose a zero loci analysis with respect to the delay and identify delay regions which potentially improve tracking performance. We utilize the analysis results to improve tracking performance of implementations targeting modern predictable embedded architectures where the delay can be precisely regulated. We validate our results by simulation and hardware-in-the-loop (HIL) implementation considering a real-life motion system.

Original languageEnglish
Title of host publication2019 American Control Conference, ACC 2019
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages3726-3733
Number of pages8
ISBN (Electronic)978-1-5386-7926-5
Publication statusPublished - 1 Jul 2019
Event2019 American Control Conference, ACC 2019 - Philadelphia, United States
Duration: 10 Jul 201912 Jul 2019
http://acc2019.a2c2.org

Conference

Conference2019 American Control Conference, ACC 2019
Abbreviated titleACC2019
CountryUnited States
CityPhiladelphia
Period10/07/1912/07/19
Internet address

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Cite this

Haghi, M., Wenguang, F., Goswami, D., & Goossens, K. (2019). Delay-based design of feedforward tracking control for predictable embedded platforms. In 2019 American Control Conference, ACC 2019 (pp. 3726-3733). [8814430] Piscataway: Institute of Electrical and Electronics Engineers.
Haghi, Mojtaba ; Wenguang, Feng ; Goswami, Dip ; Goossens, Kees. / Delay-based design of feedforward tracking control for predictable embedded platforms. 2019 American Control Conference, ACC 2019. Piscataway : Institute of Electrical and Electronics Engineers, 2019. pp. 3726-3733
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abstract = "This paper presents a design technique for feedforward tracking control targeting predictable embedded platforms. An embedded control implementation experiences sensor-to-actuator delay which in turn changes the location of the system zeros. In this work, we show that such delay changes the number of unstable zeros which influences the tracking performance. We propose a zero loci analysis with respect to the delay and identify delay regions which potentially improve tracking performance. We utilize the analysis results to improve tracking performance of implementations targeting modern predictable embedded architectures where the delay can be precisely regulated. We validate our results by simulation and hardware-in-the-loop (HIL) implementation considering a real-life motion system.",
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Haghi, M, Wenguang, F, Goswami, D & Goossens, K 2019, Delay-based design of feedforward tracking control for predictable embedded platforms. in 2019 American Control Conference, ACC 2019., 8814430, Institute of Electrical and Electronics Engineers, Piscataway, pp. 3726-3733, 2019 American Control Conference, ACC 2019, Philadelphia, United States, 10/07/19.

Delay-based design of feedforward tracking control for predictable embedded platforms. / Haghi, Mojtaba; Wenguang, Feng; Goswami, Dip; Goossens, Kees.

2019 American Control Conference, ACC 2019. Piscataway : Institute of Electrical and Electronics Engineers, 2019. p. 3726-3733 8814430.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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AB - This paper presents a design technique for feedforward tracking control targeting predictable embedded platforms. An embedded control implementation experiences sensor-to-actuator delay which in turn changes the location of the system zeros. In this work, we show that such delay changes the number of unstable zeros which influences the tracking performance. We propose a zero loci analysis with respect to the delay and identify delay regions which potentially improve tracking performance. We utilize the analysis results to improve tracking performance of implementations targeting modern predictable embedded architectures where the delay can be precisely regulated. We validate our results by simulation and hardware-in-the-loop (HIL) implementation considering a real-life motion system.

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Haghi M, Wenguang F, Goswami D, Goossens K. Delay-based design of feedforward tracking control for predictable embedded platforms. In 2019 American Control Conference, ACC 2019. Piscataway: Institute of Electrical and Electronics Engineers. 2019. p. 3726-3733. 8814430