Experimental verification of a delay compensation algorithm for integrated communication and control systems

Abstract

Advances in the technology of complex control systems demand high-speed and reliable communications between the individual components and subsystems for decision making and control. This can be accomplished by integrated communication and control systems which use asynchronous time-division-multiplexed networks. Unfortunately, these networks introduce randomly varying distributed delays as a result of time-division multiplexing. A predictor-controller algorithm has been developed with the objective of mitigating the detrimental effects of the network-induced delays that are distributed between the sensor(s), controller and actuator(s) within a control loop. This paper presents the implementation and verification of the above delay compensation algorithm. Performance of the delay compensator has been experimentally verified on an IEEE 802.4 network testbed for velocity control of a d.c. servomotor.