Comparison of LTI and Event-Based Control for a Moving Cart with Quantized Position Measurements
Författare
Summary, in English
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.
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.
Avdelning/ar
Publiceringsår
2009
Språk
Engelska
Fulltext
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Dokumenttyp
Konferensbidrag
Ämne
- Control Engineering
Nyckelord
- Stochastic filtering
- Quantized systems
- Servo control
Conference name
European Control Conference, 2009
Conference date
2009-08-23 - 2009-08-26
Conference place
Budapest, Hungary
Status
Published
Forskningsgrupp
- LCCC