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Comparison of LTI and Event-Based Control for a Moving Cart with Quantized Position Measurements

Författare:
Publiceringsår: 2009
Språk: Engelska
Dokumenttyp: Konferensbidrag

Sammanfattning

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.

Nyckelord

  • Control Engineering
  • Stochastic filtering
  • Quantized systems
  • Servo control

Övriga

European Control Conference, 2009
Published
  • LCCC-lup-obsolete

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