scholarly journals Prediction-based control for nonlinear state- and input-delay systems with the aim of delay-robustness analysis

2015 ◽  
Author(s):  
Delphine Bresch-Pietri ◽  
Nicolas Petit ◽  
Miroslav Krstic
Keyword(s):  
Robustness Analysis ◽  
Input Delay ◽  
Delay Systems ◽  
Nonlinear State

scholarly journals Robustness analysis of discrete predictor-based controllers for input-delay systems

2013 ◽  
Vol 44 (2) ◽  
pp. 232-239 ◽  
Author(s):  
Antonio Gonzalez ◽  
Antonio Sala ◽  
Pedro Garcia ◽  
Pedro Albertos
Keyword(s):  
Robustness Analysis ◽  
Input Delay ◽  
Delay Systems

Stabilization for state/input delay systems via static and integral output feedback

Automatica ◽  
2010 ◽  
Vol 46 (12) ◽  
pp. 2000-2007 ◽  
Author(s):  
Baozhu Du ◽  
James Lam ◽  
Zhan Shu
Keyword(s):  
Output Feedback ◽  
Input Delay ◽  
Delay Systems

Predictor-based stabilization of discrete time-varying input-delay systems

Automatica ◽  
2012 ◽  
Vol 48 (2) ◽  
pp. 454-457 ◽  
Author(s):  
A. Gonzalez ◽  
A. Sala ◽  
P. Albertos
Keyword(s):  
Discrete Time ◽  
Input Delay ◽  
Delay Systems ◽  
Time Varying

Analytical and Experimental Predictor-Based Time Delay Control of Baxter Robot

2018 ◽  
Author(s):  
Mostafa Bagheri ◽  
Miroslav Krstić ◽  
Peiman Naseradinmousavi
Keyword(s):  
Time Delay ◽  
Time Delays ◽  
Input Delay ◽  
Delay Systems ◽  
Engineering Systems ◽  
Common Control ◽  
Pick And Place ◽  
Place Task ◽  
Input Delays ◽  
Time Invariant

In this paper, a predictor-based controller for a 7-DOF Baxter manipulator is formulated to compensate a time-invariant input delay during a pick-and-place task. Robot manipulators are extensively employed because of their reliable, fast, and precise motions although they are subject to large time delays like many engineering systems. The time delay may lead to the lack of high precision required and even catastrophic instability. Using common control approaches on such delay systems can cause poor control performance, and uncompensated input delays can produce hazards when used in engineering applications. Therefore, destabilizing time delays need to be regarded in designing control law. First, delay-free dynamic equations are derived using the Lagrangian method. Then, we formulate a predictor-based controller for a 7-DOF Baxter manipulator, in the presence of input delay, in order to track desirable trajectories. Finally, the results are experimentally evaluated.

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