Online Delay Estimation and Adaptive Compensation in Wireless Networked System: An Embedded Control Design

Abstract

In the present work, an embedded PI controller is designed for speed regulation of DC servomotor over a wireless network. The embedded controller integrates PI controller with a proposed time-delay estimator and an adaptive digital Smith predictor for its real time operation, which is the novelty of the work. The real time or rather online operation of the developed embedded controller over wireless network is possible mainly due to the contributions in terms of proposing a new empirical formula for time-delay estimation, viable approximation of time-delay, discretization scheme in developing the proposed adaptive Smith predictor. The proposed embedded design validates that the deterioration of control performance due to random network-induced delay are mitigated in real time. The embedded controller is designed and tested for a short-range of 100 meters, and wireless technology chosen is suitable for biomedical applications.