A major challenge of implementing wireless sensor networks in the feedback control of dynamic systems is dealing with the time delays inherent in the wireless network. If not properly addressed, these delays can cause instabilities and failures in the control system. This thesis proposes a remedy to this problem: a Delay-Compensating Estimator (DCE) which uses the delayed measurements, along with the known linearized dynamics of the system being measured, to predict the current, un-delayed state of the system. This is achieved via a Luenberger observer with an induced delay in the observer feedback which matches the expected delay of the sensors, similar in concept to the Smith predictor. The design methodology for the DCE is expounded on, and delay robustness is considered in comparison to a classic Luenberger observer. Finally, an application of the DCE to real-time control of a double inverted pendulum on a cart is presented.
|Commitee:||Marayong, Panadda, Demircan, Emel|
|School:||California State University, Long Beach|
|Department:||Mechanical and Aerospace Engineering|
|School Location:||United States -- California|
|Source:||MAI 81/1(E), Masters Abstracts International|
|Subjects:||Mechanical engineering, Aerospace engineering|
|Keywords:||Controls, Estimation, Time delays|
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