Dynamic Filter Based Prediction for Efficient Networked Motion Tracking

In this paper a novel prediction method is presented for distributed motion control systems. It is assumed that the trajectory generator part of the control system is connected to the low level controller through wide area network (WAN). In this case the variable network delay, communication packet losses, irregular package arrival can severely influence the control characteristics (transient behaviour, tracking performance) because there will be control periods when no new information on the time varying reference trajectory will be available for the low level controller. The proposed prediction method is based on dynamic filters and it can effectively compensate the effect of the networked communication on control characteristics.