A practical online time-varying delay estimation of remote control system based on adaptive super-twisting algorithm

Yang Deng (1) , Vincent Léchappé (2) , Sébastien Rouquet (1) , Emmanuel Moulay (3) , Franck Plestan (1)

1 LS2N - Laboratoire des Sciences du Numérique de Nantes
2 MIS - Ampère, Département Méthodes pour l'Ingénierie des Systèmes
3 XLIM-SRI - Systèmes et Réseaux Intelligents

This article deals with the practical online delay estimation of the remote control system by using an external signal. The external signal can be considered as a special communication loop of the remote control system, and it requires no information from the control system. The delay estimator is based on the adaptive super-twisting algorithm, it accurately estimates the time-varying delay with self-tuned parameters. Moreover, the proposed method also attenuates the effect of the channel inherent noise and deception attack via the network. Finally, this method is validated on a WiFi communication network, and some simulations are given to illustrate the performance and the robustness of the proposed method.

Mots clés: Delay estimation; time-varying delay; adaptive super-twisting algorithm

Domaines: Automatique / Robotique

Yang Deng, Vincent Léchappé, Sébastien Rouquet, Emmanuel Moulay, Franck Plestan. A practical online time-varying delay estimation of remote control system based on adaptive super-twisting algorithm. Proceedings of the 4th Conference on Control Techology and Applications (CCTA), Aug 2020, Montreal, Canada. ⟨10.1109/CCTA41146.2020.9206286⟩. ⟨hal-02928666⟩