A model reference observer for time-delay control and its application to robot trajectory control

1996 ◽  
Vol 4 (1) ◽  
pp. 2-10 ◽  
Author(s):  
P.H. Chang ◽  
J.W. Lee
Keyword(s):  
Time Delay ◽  
Trajectory Control ◽  
Model Reference ◽  
Time Delay Control ◽  
Robot Trajectory ◽  
Delay Control

Robust trajectory control of underwater vehicles using time delay control law

2007 ◽  
Vol 34 (5-6) ◽  
pp. 842-849 ◽  
Author(s):  
R. Prasanth Kumar ◽  
A. Dasgupta ◽  
C.S. Kumar
Keyword(s):  
Time Delay ◽  
Underwater Vehicles ◽  
Trajectory Control ◽  
Control Law ◽  
Time Delay Control ◽  
Delay Control

scholarly journals Time-delay control for stabilization of the Shapovalov mid-size firm model

2020 ◽  
Vol 53 (2) ◽  
pp. 16971-16976
Author(s):  
T.A. Alexeeva ◽  
W.A. Barnett ◽  
N.V. Kuznetsov ◽  
T.N. Mokaev
Keyword(s):  
Time Delay ◽  
Time Delay Control ◽  
Delay Control ◽  
Size Firm ◽  
Firm Model

scholarly journals Robust-adaptive dynamic programming-based time-delay control of autonomous ships under stochastic disturbances using an actor-critic learning algorithm

2021 ◽  
Author(s):  
Hossein Nejatbakhsh Esfahani ◽  
Rafal Szlapczynski
Keyword(s):  
Dynamic Programming ◽  
Time Delay ◽  
Control Algorithm ◽  
Approximate Dynamic Programming ◽  
Robust Adaptive Control ◽  
Stochastic Disturbances ◽  
Time Delay Control ◽  
Model Free ◽  
Delay Control ◽  
Robust Adaptive

AbstractThis paper proposes a hybrid robust-adaptive learning-based control scheme based on Approximate Dynamic Programming (ADP) for the tracking control of autonomous ship maneuvering. We adopt a Time-Delay Control (TDC) approach, which is known as a simple, practical, model free and roughly robust strategy, combined with an Actor-Critic Approximate Dynamic Programming (ACADP) algorithm as an adaptive part in the proposed hybrid control algorithm. Based on this integration, Actor-Critic Time-Delay Control (AC-TDC) is proposed. It offers a high-performance robust-adaptive control approach for path following of autonomous ships under deterministic and stochastic disturbances induced by the winds, waves, and ocean currents. Computer simulations have been conducted under two different conditions in terms of the deterministic and stochastic disturbances and all simulation results indicate an acceptable performance in tracking of paths for the proposed control algorithm in comparison with the conventional TDC approach.

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