Improvement in Precision of Positioning Control System via 2.4GHz Band Wireless Communication

Abstract

This paper discusses a problem regarding a communication disturbance observer (CDOB) for a system through variable time delay. A CDOB is a method of compensating the effect of time delay. According to a few reports, it has been verified that a CDOB compensates the effect of constant time delay. However, the most recent studies reported that a system with a CDOB exhibits steady-state error, which is caused by variable time delay and modeling error. Therefore, this paper discusses the cause of this problem by focusing on the estimation error in communication disturbance. Additionally, we propose the introduction of a scaling gain to the output of a CDOB to resolve this problem. We derive steady-state error using a transfer function, and the proposed method is able to suppress the error.