Robust prediction-based control for unknown time-varying delays and disturbances in spherical motion platform

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-06-01 DOI:10.1016/j.conengprac.2025.106400

Seong-Min Lee , Sangheon Lee , Hungsun Son

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引用次数: 0

Abstract

This paper presents a new prediction-based controller utilizing enhanced preview and state prediction methods to deal with unknown time-varying delays and disturbances. In practice, uncertain and variable time delays in virtual reality applications can lead to control instability and a significant reduction in the overall sense of realism. In this paper, a robust prediction-based control (RPC) is proposed for the spherical motion platform (SMP) to compensate for the effects of the time-varying delays and disturbances. The RPC comprises a preview strategy and state/disturbance prediction methods with an estimator to handle unknown time-varying delays. In addition, a newly proposed preview method improves the system’s ability to follow a time-varying reference trajectory. The stability analysis for the time-delayed system incorporating the RPC is conducted using the Lyapunov–Krasovskii approach. Numerical simulations and various experiments demonstrate that the RPC effectively leads the state to converge to the desired trajectory within an error bound under various conditions of time-varying delays in the presence of disturbances, whereas the existing controllers have limitations in reducing the desired control errors. Consequently, the results validate the feasibility and effectiveness of the RPC in real-world applications, demonstrating its robustness in handling time-varying delays through practical implementation on the SMP.

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球面运动平台未知时变时滞和扰动的鲁棒预测控制

本文提出了一种新的基于预测的控制器，利用增强的预览和状态预测方法来处理未知的时变延迟和干扰。在实际应用中，虚拟现实应用中的不确定性和可变时间延迟会导致控制不稳定和整体真实感的显着降低。本文针对球面运动平台（SMP），提出了一种鲁棒预测控制（RPC），以补偿时变时滞和扰动的影响。RPC包括预览策略和状态/干扰预测方法，以及用于处理未知时变延迟的估计器。此外，新提出的一种预览方法提高了系统跟踪时变参考轨迹的能力。采用Lyapunov-Krasovskii方法对含RPC的时滞系统进行了稳定性分析。数值模拟和各种实验表明，在存在干扰的各种时变延迟条件下，RPC在误差范围内有效地将状态收敛到期望轨迹，而现有控制器在减小期望控制误差方面存在局限性。因此，结果验证了RPC在实际应用中的可行性和有效性，通过在SMP上的实际实现证明了它在处理时变延迟方面的鲁棒性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.