Abstract
Cloud robotics has undergone rapid development. As an important candidate for direct-drive manipulator, switched reluctance machines (SRMs) face significant challenge in terms of control used in cloud robotics because of latency and package losses in network communication. In this paper, predictive current control of SRMs is extended to use in controller upon cloud in the face of latency and package losses. The starting point of predictive model is modified to eliminate errors caused by latency in sensor-controller communication, and the execution of control command sequence is dynamically regulated according to the arrival time of the following sequence to adapt for latency and package losses in controller-actuator communication. The proposed control method is evaluated in a 1.5 kW SRM test platform and comparison with a conventional control method is performed; the results show that the proposed control method has better tracking performance in face of time delay and package losses in transmission.
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