Method of Time-Delay Compensation in Multi-Degree-of-Freedom Bilateral Control Systems with Different Configurations

2015 ◽  
Vol 98 (7) ◽  
pp. 34-43
Author(s):  
YOSHIKI OHNO ◽  
KEITA SHIMAMOTO ◽  
TAKAHIRO MIZOGUCHI ◽  
KOUHEI OHNISHI
Keyword(s):  
Time Delay ◽  
Control Systems ◽  
Degree Of Freedom ◽  
Bilateral Control ◽  
Delay Compensation ◽  
Time Delay Compensation

scholarly journals Comprehensive Control of Networked Control Systems with Multistep Delay

2014 ◽  
Vol 2014 ◽  
pp. 1-8
Author(s):  
Jie Jiang ◽  
Changlin Ma
Keyword(s):  
Time Delay ◽  
Control Systems ◽  
Networked Control Systems ◽  
Sampling Period ◽  
Networked Control ◽  
Control Methods ◽  
Delay Compensation ◽  
Linear Quadratic ◽  
Long Time ◽  
Time Delay Compensation

In networked control systems with multi-step delay, long time-delay causes vacant sampling and controller design difficulty. In order to solve the above problems, comprehensive control methods are proposed in this paper. Time-delay compensation control and linear-quadratic-Guassian (LQG) optimal control are adopted and the systems switch different controllers between two different states. LQG optimal controller is used with probability1-αin normal state, which is shown to render the systems mean square exponentially stable. Time-delay compensation controller is used with probabilityαin abnormal state to compensate vacant sampling and long time-delay. In addition, a buffer window is established at the actuator of the systems to store some history control inputs which are used to estimate the control state of present sampling period under the vacant sampling cases. The comprehensive control methods simplify control design which is easier to be implemented in engineering. The performance of the systems is also improved. Simulation results verify the validity of the proposed theory.

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