Compensating network delays for smart actuator using Lagrange Polynomial curve fitting

A smart actuator is an actuating device that can offer various intelligent functions by using embedded processors and bi-directional communication networks. However, message delays and/or packet losses due to the communication network can be a great concern in applying smart actuators to a real system. This paper proposes a simple algorithm for compensating network delays in a smart actuator. Since the proposed algorithm is based on the Lagrange Polynomial curve fitting, it requires no precise model of the process in which the actuator is driving. The effectiveness of the proposed method is evaluated with a series of experiments using a CAN network and Matlab simulink.