Sökning: id:"swepub:oai:lup.lub.lu.se:5f3826a8-992d-47a9-9456-4e522e47eeea" >
Comparison of LTI a...
Comparison of LTI and Event-Based Control for a Moving Cart with Quantized Position Measurements
-
- Henningsson, Toivo (författare)
- Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH
-
- Cervin, Anton (författare)
- Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH
-
(creator_code:org_t)
- 2009
- 2009
- Engelska.
- Relaterad länk:
-
https://portal.resea... (primary) (free)
-
visa fler...
-
https://lup.lub.lu.s...
-
visa färre...
Abstract
Ämnesord
Stäng
- Traditional linear time-invariant (LTI) control design assumes that measurements are taken at regular time intervals and have independent additive noise. A common practical case that violates this assumption is the use of encoders that give quantized position measurements; when the quantization is appreciable the measurement noise is far from LTI. This paper develops a simple event-based controller based on simplifying a joint maximum a posteriori estimator, which is applied to a moving cart with quantized position measurements. The payoff for implementing the somewhat more complex event-based controller is to drastically reduce the effect of quantization noise in the experiments. A sequence of simpler (LTI) to better adapted controllers are described and compared according to experimental performance and implementation complexity. Implementation issues on the microcontroller are discussed.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Stochastic filtering
- Quantized systems
- Servo control
Publikations- och innehållstyp
- kon (ämneskategori)
- ref (ämneskategori)