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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

2 Citaten (Scopus)
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Samenvatting

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.

Originele taal-2Engels
Titel2019 American Control Conference, ACC 2019
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's3726-3733
Aantal pagina's8
ISBN van elektronische versie978-1-5386-7926-5
DOI's
StatusGepubliceerd - 1 jul 2019
Evenement2019 American Control Conference, ACC 2019 - Philadelphia, Verenigde Staten van Amerika
Duur: 10 jul 201912 jul 2019
http://acc2019.a2c2.org

Congres

Congres2019 American Control Conference, ACC 2019
Verkorte titelACC2019
LandVerenigde Staten van Amerika
StadPhiladelphia
Periode10/07/1912/07/19
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  • Citeer dit

    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 (blz. 3726-3733). [8814430] Institute of Electrical and Electronics Engineers. https://doi.org/10.23919/acc.2019.8814430