Abstract
One important challenge with networked systems is that communication delays can significantly deteriorate system performance. This chapter proposes a model-free predictor framework to compensate for communication delays and improve networked system performance, where the term “model-free” indicates that the predictor does not need to know the dynamic equations governing the system. The motivation to pursue a model-free approach lies in its robustness, ease of design, and implementation. The proposed predictor has a first-order time delay system structure with only one design parameter. Stability of the predictor is analyzed for constant delays and the range of the design parameter to guarantee a stable predictor is established as a function of the network time delay. Since ensuring stability does not necessarily guarantee a good performance, understanding when the predictor can perform well and what its limitations are also critical. To this end, a frequency-domain analysis is given, through which the relationship between the predictor design parameter, time delay, and steady-state performance is revealed. Fundamental limitations of the predictor at higher frequencies are laid out. Finally, this analysis is confirmed on a case study. The case study further allows for testing the transient performance of the predictor in closed loop with the networked system, and shows that the predictor holds significant potential to alleviate the negative impact of communication delays, even if its high frequency performance may be limited.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bemporad, A.: Predictive control of teleoperated constrained systems with unbounded communication delays. In: IEEE Conference on Decision and Control, pp. 2133–2138 (1998)
Smith, C., Jensfelt, P.: A predictor for operator input for time-delayed teleoperation. Mechatronics 20(7), 778–786 (2010)
Lian, F.-L., Moyne, J., Tilbury, D.: Network design consideration for distributed control systems. IEEE Trans. Control Syst. Technol. 10(2), 297–307 (2002)
Montestruque, L.A., Antsaklis, P.J.: On the model-based control of networked systems. Automatica 39(10), 1837–1843 (2003)
Nilsson, J.: Real-time control systems with delay. Ph.D. Dissertation, Lund Institute of Technology (1998)
Goktas, F.: Distributed control of systems over communication networks. Ph.D. Dissertation, University of Pennsylvania (2000)
Liu, G.-P., Xia, Y., Rees, D., Hu, W.: Design and stability criteria of networked predictive control systems with random network delay in the feedback channel. IEEE Trans. Syst. Man Cybern. Part C: Appl. Rev. 37(2), 173–184 (2007)
Wang, R., Liu, G.-P., Wang, W., Rees, D., Zhao, Yun-Bo: H-inf control for networked predictive control systems based on the switched Lyapunov function method. IEEE Trans. Ind. Electron. 57(10), 3565 (2010)
Kawada, H., Namerikawa, T.: Bilateral control of nonlinear teleoperation with time varying communication delays. In: American Control Conference, pp. 189–194 (2008)
Yoshida, K., Namerikawa, T., Sawodny, O.: A state predictor for bilateral teleoperation with communication time delay. In: IEEE Conference on Decision and Control, pp. 4590–4595 (2008)
Anderson, R.J., Spong, M.W.: Bilateral control of teleoperators with time delay. IEEE Trans. Autom. Control 34(5), 494–501 (1989)
Lawrence, D.A.: Stability and transparency in bilateral teleoperation. IEEE Trans. Robot. Autom. 9(5), 624–637 (1993)
Ersal, T., Brudnak, M., Salvi, A., Kim, Y., Siegel, Jason B., Stein, Jeffrey L.: An iterative learning control approach to improving fidelity in internet-distributed hardwarein-the-loop simulation. J. Dyn. Syst. Meas. Control 136(6), 061012 (2014)
Ersal, T., Gillespie, R.B., Brudnak, M.J., Stein, J.L., Fathy, Hosam K.: Effect of coupling point selection on distortion in internet-distributed hardware-in-the-loop simulation. Int. J. Veh. Des. 61(1–4), 67–85 (2013)
Ge, X., Brudnak, M.J., Stein, J.L., Ersal, T.: A norm optimal iterative learning control framework towards internet-distributed hardware-in-the-loop simulation. In: American Control Conference, pp. 3802–3807 (2014)
Goodell, J., Compere, M., Simon, M., Smith, W., Wright, R., Brudnak, M.: Robust control techniques for state tracking in the presence of variable time delays. SAE Technical Paper 2006-01-1163 (2006)
Slotine, J.J.E., Li, W.: Applied Nonlinear Control, vol. 199, no. 1. Englewood Cliffs, NJ, Prentice-hall (1991)
Hale, J.: Theory of Functional Differential Equations. Springer, New York (1977)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this chapter
Cite this chapter
Ge, X., Zheng, Y., Brudnak, M.J., Jayakumar, P., Stein, J.L., Ersal, T. (2017). Analysis of a Model-Free Predictor for Delay Compensation in Networked Systems. In: Insperger, T., Ersal, T., Orosz, G. (eds) Time Delay Systems. Advances in Delays and Dynamics, vol 7. Springer, Cham. https://doi.org/10.1007/978-3-319-53426-8_14
Download citation
DOI: https://doi.org/10.1007/978-3-319-53426-8_14
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-53425-1
Online ISBN: 978-3-319-53426-8
eBook Packages: EngineeringEngineering (R0)