Title: Digital implementation of a self-triggered control approach for a mechatronic platform: experimental results

Authors: Carlos Santos; Javier Echevarría; Felipe Espinosa; Marta Marrón; Cristina Losada; Daniel Pizarro

Addresses: Electronics Department, Engineering School, University of Alcalá, Campus Universitario s/n 28805, Alcalá de Henares, Madrid, Spain ' Electronics Department, Engineering School, University of Alcalá, Campus Universitario s/n 28805, Alcalá de Henares, Madrid, Spain ' Electronics Department, Engineering School, University of Alcalá, Campus Universitario s/n 28805, Alcalá de Henares, Madrid, Spain ' Electronics Department, Engineering School, University of Alcalá, Campus Universitario s/n 28805, Alcalá de Henares, Madrid, Spain ' Electronics Department, Engineering School, University of Alcalá, Campus Universitario s/n 28805, Alcalá de Henares, Madrid, Spain ' Electronics Department, Engineering School, University of Alcalá, Campus Universitario s/n 28805, Alcalá de Henares, Madrid, Spain

Abstract: This paper addresses the design and presents the experimental results of an aperiodic remote-controlled mechatronic plant using a MiniDK2 electronic development board. We compare the classic periodic control solution with our self-triggered approach. The triggering mechanism consists of evaluating if the measurement error exceeds a predefined value. This measurement error is defined as the difference between the output signal of a model with and without a sample-and-hold that is activated only at the triggering instants. The minimum inter-execution time is the reference period and the maximum time is set by the designer, guaranteeing the stability of the closed loop system. At each new triggering instant, the remote controller receives a new measurement of the system and sends the actuation signal to the mechatronic plant.

Keywords: aperiodic digital control; self-triggered control; remote control; MiniDK2 development board.

DOI: 10.1504/IJIMR.2018.090945

International Journal of Intelligent Machines and Robotics, 2018 Vol.1 No.1, pp.60 - 78

Received: 03 Mar 2017
Accepted: 06 Apr 2017
Published online: 04 Apr 2018 *