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:
https://lup.lub.lu.se/record/1624815
- author
- Henningsson, Toivo
LU
and Cervin, Anton
LU
- organization
- publishing date
- 2009
- type
- Contribution to conference
- publication status
- published
- subject
- keywords
- Stochastic filtering, Quantized systems, Servo control
- conference name
- European Control Conference, 2009
- conference location
- Budapest, Hungary
- conference dates
- 2009-08-23 - 2009-08-26
- language
- English
- LU publication?
- yes
- id
- 5f3826a8-992d-47a9-9456-4e522e47eeea (old id 1624815)
- date added to LUP
- 2016-04-04 14:37:39
- date last changed
- 2020-12-12 02:16:40
@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}},
keywords = {{Stochastic filtering; Quantized systems; Servo control}},
language = {{eng}},
title = {{Comparison of LTI and Event-Based Control for a Moving Cart with Quantized Position Measurements}},
url = {{https://lup.lub.lu.se/search/files/6404019/8146217.pdf}},
year = {{2009}},
}