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
Abstract
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.