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

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	Designing Discrete Predictor-Based Controllers for Networked Control Systems with Time-varying Delays: Application to A Visual Servo Inverted Pendulum System
	Yang Deng; Vincent Léchappé; Changda Zhang; Emmanuel Moulay; Dajun Du; Franck Plestan; Qing-Long Han
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2022
卷号	9 期号:10 页码:1763-1777
摘要	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.
关键词	Discrete predictor-based control inverted pendulum system networked control system time-varying delay vision-based control
DOI	10.1109/JAS.2021.1004249
引用统计	被引频次：2[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/49707
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Yang Deng,Vincent Léchappé,Changda Zhang,et al. Designing Discrete Predictor-Based Controllers for Networked Control Systems with Time-varying Delays: Application to A Visual Servo Inverted Pendulum System[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(10):1763-1777.
APA	Yang Deng.,Vincent Léchappé.,Changda Zhang.,Emmanuel Moulay.,Dajun Du.,...&Qing-Long Han.(2022).Designing Discrete Predictor-Based Controllers for Networked Control Systems with Time-varying Delays: Application to A Visual Servo Inverted Pendulum System.IEEE/CAA Journal of Automatica Sinica,9(10),1763-1777.
MLA	Yang Deng,et al."Designing Discrete Predictor-Based Controllers for Networked Control Systems with Time-varying Delays: Application to A Visual Servo Inverted Pendulum System".IEEE/CAA Journal of Automatica Sinica 9.10(2022):1763-1777.

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