제어로봇시스템학회:학술대회논문집
- 2003.10a
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- Pages.348-353
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- 2003
Control of Real-Time Systems with Random Time-Delays
- Choi, Hyoun-Chul (School of Electronics Engineering, Ajou University) ;
- Hong, Suk-Kyo (School of Electronics Engineering, Ajou University)
- Published : 2003.10.22
Abstract
This paper considers the optimal control problem in real-time control systems with random time-delays. It proposes an algorithm which uses the linear quadratic (LQ) control method and a dedicated technique to compensate for the time-delay effects. Since it is assumed that the time-delays are unknown but the probability distribution of the delays are known a priori, the algorithm considers the mean value of the time-delays as a nominal value for random delay compensation. An example is given to show the performance of the proposed algorithm, where an inverted pendulum system is controlled over a controller-area network (CAN). Simulation results show that the proposed algorithm provides good performance results. It is shown that our algorithm is comparable to existing algorithms in both computation cost and performance.