A control architecture for dual user teleoperation with unknown time delays: A sliding mode approach

2010 ◽  
Author(s):  
M. Shahbazi ◽  
H. A. Talebi ◽  
M. J. Yazdanpanah
Keyword(s):  
Time Delays ◽  
Sliding Mode ◽  
Control Architecture ◽  
Unknown Time Delays ◽  
Dual User

Identification of continuous-time hybrid “Box–Jenkins” systems with multiple unknown time delays using two-stage parameter estimation algorithm

2019 ◽  
Vol 36 (6) ◽  
pp. 2111-2130
Author(s):  
Yamna Ghoul
Keyword(s):  
Continuous Time ◽  
Time Delays ◽  
Least Square ◽  
Identification Algorithm ◽  
Recursive Least Square ◽  
Two Stage ◽  
Content Type ◽  
Single Output ◽  
Multiple Input ◽  
Unknown Time Delays

Purpose This study/paper aims to present a separable identification algorithm for a multiple input single output (MISO) continuous time (CT) hybrid “Box–Jenkins”. Design/methodology/approach This paper proposes an optimal method for the identification of MISO CT hybrid “Box–Jenkins” systems with unknown time delays by using the two-stage recursive least-square (TS-RLS) identification algorithm. Findings The effectiveness of the proposed scheme is shown with application to a simulation example. Originality/value A two-stage recursive least-square identification method is developed for multiple input single output continuous time hybrid “Box–Jenkins” system with multiple unknown time delays from sampled data. The proposed technique allows the division of the global CT hybrid “Box–Jenkins” system into two fictitious subsystems: the first one contains the parameters of the system model, including the multiple unknown time delays, and the second contains the parameters of the noise model. Then the TS-RLS identification algorithm can be applied easily to estimate all the parameters of the studied system.

scholarly journals Trajectory tracking sliding mode control for underactuated autonomous underwater vehicles with time delays

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142091627
Author(s):  
Jiajia Zhou ◽  
Xinyi Zhao ◽  
Zhiguang Feng ◽  
Di Wu
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Time Delays ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Trajectory Tracking Control ◽  
Error Equation ◽  
Mode Control ◽  
Input Time

Trajectory tracking control of autonomous underwater vehicles in three-dimension always suffers disturbances such as input time delays and model uncertainties. Regarding this problem, an integral time-delay sliding mode control law is proposed in this article with dividing the vehicle’s input time delays model into cascade system consisting of a kinematics subsystem and a dynamics subsystem. Based on the established pose error equation and velocity error equation, a suitable Lyapunov–Krasovskii functional is given to analyze and guarantee the global stability of the whole system under reasonable assumptions. At last, comparative simulations are presented to demonstrate the effectiveness of the proposed method.

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