Real-Time Motion Control Method Using Measured Delay Information on Access Edge Computing

摘要

Real-time motion control of Internet of Things (IoT) devices over the network has been studied with the emergence of advanced applications such as drones and industrial robots. However, delay fluctuation is caused by the network, which leads to the deterioration of control performance. This study introduces the concept of access edge that performs real-time motion control on an edge server located in the central office. To reduce the effect of delay in the access network on control performance, we propose and evaluate the control method that uses the delay information. In the proposed method, the delay information is actively obtained and sent to the controller for delay compensation. We construct an experimental system that simulates peer to peer communication in the access network, and evaluate the real-time control performance. We confirm that the settling time is improved by the proposed method in motor and drone experiments.