Regular Papers

International Journal of Control, Automation and Systems 2009; 7(6): 930-938

Published online December 6, 2009

https://doi.org/10.1007/s12555-009-0609-6

© The International Journal of Control, Automation, and Systems

Repetitive Tracking Position Control on LonWorks/IP Network with Time Varying Delay

Ki-Won Song, Gi Sang Choi, and Gi Heung Choi

Catholic University of Korea, Korea

Abstract

LonWorks over IP (LonWorks/IP) network is an integrated form of LonWorks device network and IP data network. LonWorks/IP network can offer ubiquitous access to the information on the factory floor and the real-time distributed control can be made possible. Timely response is inevitable for the real-time distributed control on the factory floor. Network induced uncertain time delay deteriorates the performance and stability of the real-time distributed control system on LonWorks/IP network. Therefore, time-varying uncertain time delay needs to be compensated for, in order to guarantee the stability and to improve the performance of the networked distributed control system. In this paper a control scheme based on disturbance observer and repetitive controller for the real-time distributed control on LonWorks/IP network with time-varying delay is proposed and tested through experiment. The result of the proposed control is compared with that of internal model controller (IMC) based on Smith predictor and disturbance observer. It is shown that the proposed control scheme can improve the tracking performance of the periodic reference.

Keywords Disturbance observer, internal model controller (IMC), LonWorks/IP, repetitive controller, time delay.

Article

Regular Papers

International Journal of Control, Automation and Systems 2009; 7(6): 930-938

Published online December 1, 2009 https://doi.org/10.1007/s12555-009-0609-6

Copyright © The International Journal of Control, Automation, and Systems.

Repetitive Tracking Position Control on LonWorks/IP Network with Time Varying Delay

Ki-Won Song, Gi Sang Choi, and Gi Heung Choi

Catholic University of Korea, Korea

Abstract

LonWorks over IP (LonWorks/IP) network is an integrated form of LonWorks device network and IP data network. LonWorks/IP network can offer ubiquitous access to the information on the factory floor and the real-time distributed control can be made possible. Timely response is inevitable for the real-time distributed control on the factory floor. Network induced uncertain time delay deteriorates the performance and stability of the real-time distributed control system on LonWorks/IP network. Therefore, time-varying uncertain time delay needs to be compensated for, in order to guarantee the stability and to improve the performance of the networked distributed control system. In this paper a control scheme based on disturbance observer and repetitive controller for the real-time distributed control on LonWorks/IP network with time-varying delay is proposed and tested through experiment. The result of the proposed control is compared with that of internal model controller (IMC) based on Smith predictor and disturbance observer. It is shown that the proposed control scheme can improve the tracking performance of the periodic reference.

Keywords: Disturbance observer, internal model controller (IMC), LonWorks/IP, repetitive controller, time delay.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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