| Presentation | 2014-11-20 Evaluation of Control Qaulity Caused by Modelling Errors of Rotary Inverted Pendulum in Wireless Feedback Control Systems Akinori NAKAJIMA, Kentaro KOBAYASHI, Hiraku OKADA, Masaaki KATAYAMA, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In wireless control systems, communication errors in the wireless channel have an adverse effect on control quality. In the application of wireless control to industrial machines, an essential issue is to diminish the deterioration of control quality. Regarding this issue, several algorithms have already been proposed. However, in most of these algorithms, the performance improvements are based on systems using simple linearized plant models. In our research we use a real rotary inverted pendulum as a plant, and evaluate modeling errors in wireless communication systems due to modeling quality. When constructing plant model, we consider the nonlinearity of input voltages, the initial position error, the quantization error of the encoder, among other factors. We evaluate modelling error using two model. One is the conventional liner model. The other is the constructed plant model. As a result, we could see that the constructed model had better control quality than the conventional liner model. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | wireless control / plant modelling / experimentation / rotary inverted pendulum |
| Paper # | RCC2014-63 |
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| Conference Information | |
| Committee | RCC |
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| Conference Date | 2014/11/13(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Reliable Communication and Control (RCC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Evaluation of Control Qaulity Caused by Modelling Errors of Rotary Inverted Pendulum in Wireless Feedback Control Systems |
| Sub Title (in English) | |
| Keyword(1) | wireless control |
| Keyword(2) | plant modelling |
| Keyword(3) | experimentation |
| Keyword(4) | rotary inverted pendulum |
| 1st Author's Name | Akinori NAKAJIMA |
| 1st Author's Affiliation | Dept. of Electrical Engineering and Computer Science, Graduate School of Engineering, Nagoya University() |
| 2nd Author's Name | Kentaro KOBAYASHI |
| 2nd Author's Affiliation | EcoTopia Science Institute, Nagoya University |
| 3rd Author's Name | Hiraku OKADA |
| 3rd Author's Affiliation | EcoTopia Science Institute, Nagoya University |
| 4th Author's Name | Masaaki KATAYAMA |
| 4th Author's Affiliation | EcoTopia Science Institute, Nagoya University |
| Date | 2014-11-20 |
| Paper # | RCC2014-63 |
| Volume (vol) | vol.114 |
| Number (no) | 317 |
| Page | pp.pp.- |
| #Pages | 7 |
| Date of Issue | |