Synchronization of Networked Mechanical Systems With Communication Delays and Human Input

2013 ◽  
Vol 135 (4) ◽  
Author(s):  
Yen-Chen Liu ◽  
Nikhil Chopra
Keyword(s):  
Time Delays ◽  
Dynamic Models ◽  
Mechanical Systems ◽  
Constant Time ◽  
Human Operator ◽  
Regular Graphs ◽  
Communication Delays ◽  
Closed Loop System ◽  
Synchronization Errors ◽  
Strongly Connected

The problem of controlling a group of networked mechanical systems to synchronize and follow a common trajectory is studied in this paper. We first address the results for networked mechanical systems to achieve synchronization when the interagent communication graph is balanced and strongly connected with communication delays. Subsequently, a control law is developed to guarantee synchronization and trajectory tracking for networked mechanical systems communicating on regular graphs when there are constant time delays in communication and the interconnection topology is time-varying. The case when a human operator input is introduced in the closed-loop system is also considered. It is demonstrated that a bounded human operator input results in bounded tracking and synchronization errors, even when there are constant time delays in communication. The simulation and experimental results are presented by utilizing the kinematic and dynamic models of PHANToM Omni derived in this paper.

A Note on Pole Placement of Mechanical Systems

1991 ◽  
Vol 113 (3) ◽  
pp. 420-421 ◽  
Author(s):  
C. Minas ◽  
D. J. Inman
Keyword(s):  
Least Squares ◽  
Canonical Form ◽  
Output Feedback ◽  
Closed Loop ◽  
Weighted Least Squares ◽  
Mechanical Systems ◽  
Pole Placement ◽  
Feedback Gain ◽  
Closed Loop System ◽  
Feedback Method

An output feedback method is developed, that systematically places a desired number of poles of a closed-loop system at or near desired locations. The system is transformed to its equivalent controllable canonical form, where the output feedback gain matrix is calculated in a weighted least squares scheme, that minimizes the change of the remaining modes of the system. The advantage of this method over other pole placement routines is the fact that the influence on the remaining unplaced modes of the system is minimum, which is particularly important in preserving closed-loop stability.

scholarly journals Forecasting COVID-19 Chile’ second outbreak by a generalized SIR model with constant time delays and a fitted positivity rate

2022 ◽  
Vol 193 ◽  
pp. 1-18
Author(s):  
Patricio Cumsille ◽  
Óscar Rojas-Díaz ◽  
Pablo Moisset de Espanés ◽  
Paula Verdugo-Hernández
Keyword(s):  
Time Delays ◽  
Sir Model ◽  
Constant Time

Master-slave teleoperation of underactuated mechanical systems with communication delays

2017 ◽  
Vol 15 (2) ◽  
pp. 827-836 ◽  
Author(s):  
Ollin Peñaloza-Mejía ◽  
Luis A. Márquez-Martínez ◽  
Jaime Alvarez-Gallegos ◽  
Joaquín Alvarez
Keyword(s):  
Mechanical Systems ◽  
Communication Delays ◽  
Underactuated Mechanical Systems

Neural Network Based Tracking Control of Mechanical Systems

1999 ◽  
Vol 121 (1) ◽  
pp. 148-154
Author(s):  
T. Efrati ◽  
H. Flashner
Keyword(s):  
Neural Network ◽  
Tracking Control ◽  
Optimization Problem ◽  
Simple Structure ◽  
Tracking Error ◽  
Mechanical Systems ◽  
Closed Loop System ◽  
Control Effort ◽  
Learning Procedure ◽  
On Line

A method for tracking control of mechanical systems based on artificial neural networks is presented. The controller consists of a proportional plus derivative controller and a two-layer feedforward neural network. It is shown that the tracking error of the closed-loop system goes to zero while the control effort is minimized. Tuning of the neural network’s weights is formulated in terms of a constrained optimization problem. The resulting algorithm has a simple structure and requires a very modest computation effort. In addition, the neural network’s learning procedure is implemented on-line.

STABILIZING NETWORKED PNEUMATIC CONTROL SYSTEMS WITH TIME DELAYS

2009 ◽  
Vol 08 (02) ◽  
pp. 209-223
Author(s):  
MING-WEI HONG ◽  
CHUN-LIANG LIN ◽  
BING-MIN SHIU ◽  
NABIL AOUF
Keyword(s):  
Control Systems ◽  
Time Delays ◽  
Closed Loop ◽  
Networked Control Systems ◽  
Phase Lag ◽  
Communication Delays ◽  
Robust Controller ◽  
Loop Control ◽  
Pneumatic Control ◽  
Pid Neural Network

It has been known that time delays may not only degrade the performance of the closed-loop control systems, but also induce instability due to the introduction of extra phase lag. The focus of this paper is to find out a way to design a robust controller for networked control systems (NCSs) with time-varying communication delays. To this aim, a mixed fuzzy-PID/neural network compensating scheme is proposed so as to alleviate the influence resulting from uncertain communication delays while maintaining system performance. A condition ensuring stability of the NCS is derived from the system's input–output viewpoint. The effectiveness and superiority of our proposed approach are fully verified in an experimentally networked pneumatic control system.

An Optimization-Based Framework for Simultaneous Plant-Controller Redesign

1990 ◽  
Author(s):  
Robert Beyers ◽  
Subhas Desa
Keyword(s):  
Performance Improvement ◽  
Closed Loop ◽  
Optimization Problems ◽  
Dynamic Performance ◽  
Mechanical Systems ◽  
Loop System ◽  
Closed Loop System ◽  
Central Notion ◽  
Computer Controlled

Abstract In this paper we develop a framework for the redesign of computer-controlled, closed-loop, mechanical systems for improved dynamic performance. A central notion which underlies the redesign framework is that, in order to achieve the best possible performance from a constrained closed-loop system, the plant and controller should be designed simultaneously. The framework is presented as the formulation and solution of a progression of optimization problems which enable the designer to systematically establish the various redesign possibilities. An example clearly demonstrates the underlying ideas as well as the use of the redesign framework for performance improvement.

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