Delay Compensation for Teleoperation Systems Based on Communication Disturbance Observers

2016 ◽  
Vol 20 (7) ◽  
pp. 1044-1050
Author(s):  
Wen-An Zhang ◽  
◽  
Junkai Jin ◽  
Xiang Qiu ◽  
Li Yu
Keyword(s):  
Control Problem ◽  
Disturbance Rejection ◽  
Disturbance Observer ◽  
Controller Design ◽  
Design Method ◽  
Smith Predictor ◽  
Time Varying ◽  
Communication Delays ◽  
Delay Compensation ◽  
Teleoperation Systems

This paper investigates the control problem for a class of teleoperation systems with communication delays. The network-induced delays are usually inevitable in teleoperation systems, and may be time varying and unpredictable. Since the conventional Smith predictor is only useful for fixed delays, a novel delay compensation and controller design method is proposed in this paper. The proposed method combines a disturbance rejection controller and a communication disturbance observer (CDOB). Simulations are provided to show the effectiveness and superiority of the proposed delay compensation and controller design method.

Neural Networks L2-Gain Controller Design for Nonlinear System

2011 ◽  
Vol 467-469 ◽  
pp. 1505-1510
Author(s):  
Dan Liu ◽  
Ni Hong Wang ◽  
Gui Ying Li
Keyword(s):  
Neural Network ◽  
Disturbance Rejection ◽  
Differential Inequality ◽  
Controller Design ◽  
Design Method ◽  
General Structure ◽  
The Neural Network ◽  
Network Weight ◽  
Finite Gain ◽  
L2 Gain

This paper proposes a new method that it uses the neural network to construct the solution of the Hamiltion-Jacobi inequality (HJ), and it carries on the optimization of the neural network weight using the genetic algorithm. This method causes the Lyapunov function to satisfy the HJ, avoides solving the HJ parital differential inequality, and overcomes the difficulty which the HJ parital differential inequality analysis. Beside this, it proposes a design method of a nonlinear state feedback L2-gain disturbance rejection controller based on HJ, and introduces general structure of L2-gain disturbance rejection controller in the form of neural network. The simulation demonstrates the design of controller is feasible and the closed-loop system ensures a finite gain between the disturbance and the output.

A Robust Disturbance Rejection Method for Uncertain Flexible Mechanical Vibrating Systems Under Persistent Excitation

2004 ◽  
Vol 10 (3) ◽  
pp. 343-357 ◽  
Author(s):  
Liang-An Zheng
Keyword(s):  
Stability Condition ◽  
Disturbance Rejection ◽  
Design Method ◽  
Control Input ◽  
Time Varying ◽  
Persistent Excitation ◽  
Rejection Method ◽  
Time Varying Parameter ◽  
Parameter Perturbations ◽  
Vibrating Systems

This paper presents a robust disturbance rejection method for a class of flexible mechanical vibrating systems with time-varying parameter perturbations subject to persistent excitation. The control input is split into two parts as a common strategy: one is obtained from the regulator design that is responsible for primary stabilization; the other is assigned to cancel the effect of the persistent excitation. The states of controlled dynamics and excitation dynamics are estimated by a Kalman filter. Then, taking into account plant variations, a robust stability condition is proposed to ensure the stability of the resulting closed system. It is shown that, using the proposed stability condition, the designed controller can effectively suppress the persistent excitation and keep the flexible mechanical system from the possibility of instability caused by spillover and time-varying parameter perturbations. Finally, two examples are given to demonstrate the use of the design method.

scholarly journals Reliable Control for Time-Varying Delay Switched Fuzzy Systems with Faulty Actuators Based on Observers Switching Method

2013 ◽  
Vol 2013 ◽  
pp. 1-12 ◽  
Author(s):  
Le Zhang ◽  
Jinnan Wu
Keyword(s):  
Control Problem ◽  
Fuzzy System ◽  
Fuzzy Systems ◽  
Controller Design ◽  
Original System ◽  
System Stability ◽  
Reliable Control ◽  
Time Varying ◽  
Time Varying Delay ◽  
Varying Delay

This paper deals with the reliable control problem of nonlinear systems represented by switched fuzzy systems (SFS) with time-varying delay, where each subsystem of switched system is a time-varying delay fuzzy system. A switched fuzzy system with a Takagi and Sugeno (T-S) fuzzy model, which differs from existing ones, is firstly employed to describe a nonlinear system. When the actuators are serious failure, the residual part of actuators cannot make original system stability, using switching technique depends on the states of observers, and the fuzzy reliable controller based on measured observers states instead of the original system states information is built. The stabilization criterion of the reliable control problem is given for the case that the state of original system is unmeasurable. The multi-Lyapunov functions method is utilized to the stability analysis and controller design for time-varying delay switched fuzzy systems with faulty actuators. Moreover, observers switching strategy achieving estimation errors decreasing uniformly asymptotically to zero of the switched fuzzy systems is considered. Finally, the stabilization criterion is transformed into the solvability of sufficient linear matrix inequality (LMI) conditions. To illustrate the effectiveness of the proposed stabilization criterion and controller design approaches, a designed numerical example is studied, and some simulations are provided.

scholarly journals PID Controller Design for TITO Processes Based on IMC and Smith Predictor Configuration

2019 ◽  
Vol 8 (6S4) ◽  
pp. 1522-1526
Keyword(s):  
Time Delay ◽  
Disturbance Rejection ◽  
Pid Controller ◽  
Controller Design ◽  
Control Design ◽  
Smith Predictor ◽  
Point Tracking ◽  
Pid Controller Design ◽  
Reduced Time

This paper describes the design of ProportionalIntegral-Derivative (PID) controller for two variable processes where the two variables need to control. Design of controllers for such a process is too difficult than single variable processes because of interrelations between the two variables present in the system. Hence, the design approach should include the interrelations of the variables to achieve better performance of the processes. In addition to this, the time delay of the processes is also considered and Smith Predictor (SP) configuration is used to reduce the delay in the processes. For the resultant reduced time delay processes, an IMC approach is used to design PID controller. The proposed control system improves both the servo (set point tracking) and regulatory (disturbance rejection) performance of the system. The proposed configuration is also validated using a case study. The simulation results are presented and compared with the other similar approaches to show the efficacy of the proposed method

Leader–Follower Consensus Control of Multiple Quadcopters Under Communication Delays

2019 ◽  
Vol 141 (10) ◽  
Author(s):  
Zipeng Huang ◽  
Ya-Jun Pan ◽  
Robert Bauer
Keyword(s):  
Controller Design ◽  
Sufficient Conditions ◽  
Consensus Algorithm ◽  
Linear Matrix ◽  
Time Varying ◽  
Communication Delays ◽  
Time Varying Delay ◽  
Control Gain ◽  
Error Dynamics ◽  
Low Dimensional

This paper develops a novel decentralized leader–follower consensus algorithm for multiple-quadcopter systems under uniform constant and asynchronous time-varying communication delays. The consensus problem is formulated as the stability analysis and static controller design problem of a delayed system by defining the consensus error dynamics. Lyapunov-based methods along with the linear matrix inequality (LMI) techniques are utilized to derive the sufficient conditions for the control gain design that ensure asymptotic consensusability in the constant delay case, and consensus with bounded errors in the time-varying delay case. Also the computational complexity of solving control gains can be significantly reduced by decomposing the sufficient conditions into a set of equivalent low-dimensional conditions under undirected communication topologies. Simulation results show that larger systems are generally more susceptible to communication delays, and systems are more robust to delays when more followers are directly connected to the leader.

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