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

Henningsson, Toivo LU and Cervin, Anton LU (2009) European Control Conference, 2009
Abstract
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 ... (More)
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. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to conference
publication status
published
subject
keywords
Stochastic filtering, Quantized systems, Servo control
conference name
European Control Conference, 2009
language
English
LU publication?
yes
id
5f3826a8-992d-47a9-9456-4e522e47eeea (old id 1624815)
date added to LUP
2010-06-28 09:15:07
date last changed
2016-07-08 09:40:40
@misc{5f3826a8-992d-47a9-9456-4e522e47eeea,
  abstract     = {Traditional linear time-invariant (LTI) control<br/><br>
design assumes that measurements are taken at regular time<br/><br>
intervals and have independent additive noise. A common<br/><br>
practical case that violates this assumption is the use of<br/><br>
encoders that give quantized position measurements; when the<br/><br>
quantization is appreciable the measurement noise is far from<br/><br>
LTI. This paper develops a simple event-based controller based<br/><br>
on simplifying a joint maximum a posteriori estimator, which is<br/><br>
applied to a moving cart with quantized position measurements.<br/><br>
The payoff for implementing the somewhat more complex<br/><br>
event-based controller is to drastically reduce the effect of<br/><br>
quantization noise in the experiments. A sequence of simpler<br/><br>
(LTI) to better adapted controllers are described and compared<br/><br>
according to experimental performance and implementation<br/><br>
complexity. Implementation issues on the microcontroller are<br/><br>
discussed.},
  author       = {Henningsson, Toivo and Cervin, Anton},
  keyword      = {Stochastic filtering,Quantized systems,Servo control},
  language     = {eng},
  title        = {Comparison of LTI and Event-Based Control for a Moving Cart with Quantized Position Measurements},
  year         = {2009},
}