Summary
International Symposium on Nonlinear Theory and its Applications
2017
Session Number:A1L-D
Session:
Number:A1L-D-2
Networked Motion Control with Tamper Detection Observer and Smith Predictor
Jin Hoshino, Takahiro Funakoshi, Kenta Yamada, Ryogo Kubo,
pp.62-65
Publication Date:2017/12/4
Online ISSN:2188-5079
Summary:
The tamper detection observer (TDO) has been proposed to achieve safe and secure operation of networked motion control systems with redundant feedback paths. However, the conventional TDO does not consider the transmission delays of communication networks, which degrade the performance and stability of the system. This paper proposes time-delay compensation methods of a networked motion control system using the TDO. The proposed system includes the Smith predictor, which is one of the popular time-delay compensation techniques. Three time-delay models in the Smith predictor, i.e., minimum, maximum, and average time-delay models, are proposed for the redundant feedback paths with different transmission delays. The proposed methods using the three models are compared by simulations.