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 language | English |
|---|---|
| Title of host publication | 2019 American Control Conference, ACC 2019 |
| Place of Publication | Piscataway |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 3726-3733 |
| Number of pages | 8 |
| ISBN (Electronic) | 978-1-5386-7926-5 |
| Publication status | Published - 1 Jul 2019 |
| Event | 2019 American Control Conference, ACC 2019 - Philadelphia, United States Duration: 10 Jul 2019 → 12 Jul 2019 http://acc2019.a2c2.org |
Conference
| Conference | 2019 American Control Conference, ACC 2019 |
|---|---|
| Abbreviated title | ACC2019 |
| Country | United States |
| City | Philadelphia |
| Period | 10/07/19 → 12/07/19 |
| Internet address |
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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 proceeding › Conference contribution › Academic › peer-review
TY - GEN
T1 - Delay-based design of feedforward tracking control for predictable embedded platforms
AU - Haghi, Mojtaba
AU - Wenguang, Feng
AU - Goswami, Dip
AU - Goossens, Kees
PY - 2019/7/1
Y1 - 2019/7/1
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=85072292319&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:85072292319
SP - 3726
EP - 3733
BT - 2019 American Control Conference, ACC 2019
PB - Institute of Electrical and Electronics Engineers
CY - Piscataway
ER -