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Volume 9 Issue 10
Oct.  2022

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Y. Deng, V. Léchappé, C. D. Zhang, E. Moulay, D. J. Du, F. Plestan, and Q.-L. Han, “Designing discrete predictor-based controllers for networked control systems with time-varying delays: Application to a visual servo inverted pendulum system,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 10, pp. 1763–1777, Oct. 2022. doi: 10.1109/JAS.2021.1004249
Citation: Y. Deng, V. Léchappé, C. D. Zhang, E. Moulay, D. J. Du, F. Plestan, and Q.-L. Han, “Designing discrete predictor-based controllers for networked control systems with time-varying delays: Application to a visual servo inverted pendulum system,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 10, pp. 1763–1777, Oct. 2022. doi: 10.1109/JAS.2021.1004249

Designing Discrete Predictor-Based Controllers for Networked Control Systems with Time-varying Delays: Application to A Visual Servo Inverted Pendulum System

doi: 10.1109/JAS.2021.1004249
Funds:  This work was supported by the China Scholarship Council (CSC) and the National Natural Science Foundation of China (92067106)
More Information
  • A discrete predictor-based control method is developed for a class of linear time-invariant networked control systems with a sensor-to-controller time-varying delay and a controller-to-actuator uncertain constant delay, which can be potentially applied to vision-based control systems. The control scheme is composed of a state prediction and a discrete predictor-based controller. The state prediction is used to compensate for the effect of the sensor-to-controller delay, and the system can be stabilized by the discrete predictor-based controller. Moreover, it is shown that the control scheme is also robust with respect to slight message rejections. Finally, the main theoretical results are illustrated by simulation results and experimental results based on a networked visual servo inverted pendulum system.


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  • 1 The controller-to-actuator delay is the sum of a constant delay (dead time of the actuator) and a small time-varying delay (controller-to-actuator data transmission latency). Therefore, it can be equivalently modeled as an uncertain constant delay.
    2 The detailed calculation of this bound is given in the proof of this theorem.
    3 The continuous-time controller (96) is emulated [38, Section 2.2] to the sampled-data form for the experiment on the NIPVSS.4 The videos of the two experiments are available at https://drive.google.com/drive/folders/1WEp7VUt5JTcUlbQf6cAt4z4ZHKKJzGjN?usp = sharing.
    4 The videos of the two experiments are available at https://drive.google.com/drive/folders/1WEp7VUt5JTcUlbQf6cAt4z4ZHKKJzGjN?usp = sharing.
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