Handling qualities evaluation of predictive display model for rendezvous and docking in lunar orbit with large time delay

2016 ◽  
Author(s):  
Yakun Zhang ◽  
Haiyang Li
Keyword(s):  
Time Delay ◽  
Large Time ◽  
Lunar Orbit ◽  
Handling Qualities ◽  
Predictive Display ◽  
Rendezvous And Docking

scholarly journals Investigation into Pilot Handling Qualities in Teleoperation Rendezvous and Docking with Time Delay

2012 ◽  
Vol 25 (4) ◽  
pp. 622-630 ◽  
Author(s):  
Jianyong ZHOU ◽  
Jianping ZHOU ◽  
Zicheng JIANG ◽  
Haiyang LI
Keyword(s):  
Time Delay ◽  
Handling Qualities ◽  
Rendezvous And Docking

scholarly journals Linear time-delay circuit and stabilizing controller

2021 ◽  
Vol 2091 (1) ◽  
pp. 012005
Author(s):  
Yuhao Cong ◽  
Yong Zhang ◽  
Guang-Da Hu
Keyword(s):  
Time Delay ◽  
Large Time ◽  
Linear Time ◽  
Least Square Method ◽  
Optimization Method ◽  
Delay System ◽  
Least Square ◽  
Single Chip ◽  
Stabilizing Controller ◽  
Delay Circuit

Abstract This paper is concerned with a linear time-delay circuit and its feedback control. We use electronic components such as resistors and capacitors to realize a linear time-delay system. The time-delays are generated by operational amplifiers and single-chip microcomputers. Based on the actual data measured by the oscilloscope, the parameters of the system are estimated using the least square method. Then a comparison study between the waveform image measured by the oscilloscope and the numerical simulation obtained by MATLAB verifies the effectiveness of the parameters estimations of the circuit system. Furthermore, the circuit system is unstable with a large time-delay, a feedback controller is designed to stabilize the circuit system using the optimization method in the literature. Finally, the experimental results in the linear time-delay circuit show the effectiveness of the optimization method.

A Design Method for Modified Smith Predictors for Non-Minimum-Phase Time-Delay Plants with Multiple Feedback-Connected Time-Delays

2010 ◽  
Vol 36 ◽  
pp. 253-262 ◽  
Author(s):  
Iwanori Murakami ◽  
Nghia Thi Mai ◽  
Kou Yamada ◽  
Takaaki Hagiwara ◽  
Yoshinori Ando ◽  
...  
Keyword(s):  
Steady State ◽  
Time Delay ◽  
Time Delays ◽  
Large Time ◽  
Design Method ◽  
Smith Predictor ◽  
Minimum Phase ◽  
Effective Time ◽  
Phase Time ◽  
Step Disturbance

In this paper, we examine a design method for modified Smith predictors for non-minimum-phase time-delay plants with multiple feedback-connected time-delays. The Smith predictor is proposed by Smith to overcome time-delay and known as an effective time-delay compensator for a plant with large time-delay. The Smith predictor by Smith cannot be used for plants having an integral mode, because a step disturbance will result in a steady state error. Several papers considered the problem to design modified Smith predictors for unstable plants. However, no paper examines a design method for modified Smith predictors for non-minimum-phase time-delay plants with multiple feedback-connected time-delays. In this paper, we examine a design method for modified Smith predictors for non-minimum-phase time-delay plants with multiple feedback-connected time-delays.

Time Delay-Free Nonlinear Bilateral Teleoperation With Model-Based Predictive Display

2001 ◽  
Author(s):  
Vicente Parra-Vega
Keyword(s):  
Nonlinear Dynamics ◽  
Time Delay ◽  
Finite Time ◽  
Linear Models ◽  
Sliding Mode ◽  
Linear Time ◽  
Contact Forces ◽  
Rigorous Result ◽  
Model Based ◽  
Predictive Display

Abstract Robotic teleoperation is a difficult task because of the inherent difficulty to model and control time-delay nonlinear models. In order to handle tractable models, typically there have been two ways to tackle this problem: i) The first approach is to assume that the system is fast enough and thus the time delay can be neglected, in this way time-delay-free differential equations are obtained such that the controller is time-delay-free. This approach needs further formal study to validate this assumption, and so far there is neither strict nor rigorous result that support this claim, when considering the full nonlinear telerobotic dyanmics. ii) In the second approach, the time delay is considered explicitly, however typically nonlinear dynamics is neglected and then linear models are used to derive time-delay-based control systems. The second approach ignores that the robots are nonlinear systems with strong nonlinear inertial couplings, and therefore controllers based on linear time-delay models render low performance. In this paper, the teleoperation of robots is modeled, including nonlinear dynamics in the continuous domain, without any time delay, and model-based nonlinear continuous second order sliding mode controllers are proposed which guarantee finite-time convergence. Thus, this approach attempts to propose a scheme for the second approach outlined above. The teleoperation system provides force reflection to the human operator, and a kinematic-based predictive display yields visual stimuli while the master robot yields kinesthetic feedback to the operator to allow planning better desired trajectories, including contact forces, in contrast to other predictive displays that have been proposed in the literature. Therefore, the theoretical foundations of finite-time convergent telecontrol system and its advantages are discussed.

scholarly journals Large time‐delay decoupling and correction in synchronous complex‐vector frame

2019 ◽  
Vol 12 (2) ◽  
pp. 254-266 ◽  
Author(s):  
Qi Xiao ◽  
Fen Tang ◽  
Zhen Xin ◽  
Jiayu Zhou ◽  
Pengfei Chen ◽  
...  
Keyword(s):  
Time Delay ◽  
Large Time ◽  
Complex Vector
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