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Comparison of LTI a...
Comparison of LTI and Event-Based Control for a Moving Cart with Quantized Position Measurements
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- 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
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- 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
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(creator_code:org_t)
- 2009
- 2009
- Engelska.
- Relaterad länk:
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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)