An Adaptive Delay Compensation Technique for Wireless Sensor and Actuator Network

This paper proposes an adaptive wireless-network-induced delay compensation technique for Wireless Sensor and Actuator Network (WSAN). It is well known that network delays and packet losses over wireless network incur a great challenge over performance as well as stability of WSAN-based control systems. This paper presents a time-varying delay compensator exploiting Adaptive Smith Predictor with constant delay buffer. Experimental results with rotary-type inverted pendulum as actuator to be controlled remotely show that the proposed technique increases performance of the WSAN-based control system.