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Bae, Joonbum
Bio-Robotics and Control (BiRC) Lab
Research Interests
  • Design and control of physical human-robot interaction systems

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Modified Preview Control for a Wireless Tracking Control System With Packet Loss

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Title
Modified Preview Control for a Wireless Tracking Control System With Packet Loss
Author
Zhang, WenlongBae, JoonbumTomizuka, Masayoshi
Keywords
Motion control; networked control systems; packet loss; preview control
Issue Date
201502
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.20, no.1, pp.299 - 307
Abstract
In this paper, a modified preview control technique is proposed to compensate packet loss in a wireless tracking control system, where future reference signals over a finite horizon can be previewed. In order to utilize future reference information for the controller design, the system model is augmented with a reference generator whose states are the future reference signals. As a response to the packet loss that occurs in the wireless network, the preview control technique is modified by employing Bernoulli variables to represent packet loss in both controller--actuator and sensor--controller channels. The Bernoulli packet loss model, along with tracking errors and control inputs, is included in a quadratic cost function, and the optimal controller gain that minimizes the cost function is obtained by dynamic programming. A modified Kalman filter considering packet loss is utilized for full-state estimation and state feedback control. The choice of preview horizon is discussed and the performance of the proposed controller is verified by simulation and experimental results.
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DOI
http://dx.doi.org/10.1109/TMECH.2013.2297151
ISSN
1083-4435
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