Bilateral Control of a Nonlinear Teleoperation Robotic System with Time Varying Delay Using Optimal Control Method

2017 ◽  
Author(s):  
Abasali Amini ◽  
Alireza Mirbagheri ◽  
Amir Homayoun Jafari
Keyword(s):  
Optimal Control ◽  
Control Method ◽  
Robotic System ◽  
Time Varying ◽  
Bilateral Control ◽  
Time Varying Delay ◽  
Optimal Control Method ◽  
Varying Delay

Fuzzy optimal control for nonlinear systems with time-varying delay via sampled-data controller

2020 ◽  
Vol 24 (19) ◽  
pp. 14743-14755
Author(s):  
Zifang Qu ◽  
Zhengdi Zhang ◽  
Zhenbin Du ◽  
Tiebiao Zhao
Keyword(s):  
Optimal Control ◽  
Nonlinear Systems ◽  
Time Varying ◽  
Sampled Data ◽  
Time Varying Delay ◽  
Data Controller ◽  
Varying Delay

A new approach for the optimal control of time-varying delay systems with external persistent matched disturbances

2017 ◽  
Vol 24 (19) ◽  
pp. 4505-4512 ◽  
Author(s):  
Amin Jajarmi ◽  
Mojtaba Hajipour ◽  
Dumitru Baleanu
Keyword(s):  
Optimal Control ◽  
Time Delay ◽  
Boundary Value Problem ◽  
Boundary Value ◽  
Necessary Optimality Conditions ◽  
Delay Systems ◽  
Time Varying ◽  
Time Varying Delay ◽  
Augmented System ◽  
Varying Delay

The aim of this study is to develop an efficient iterative approach for solving a class of time-delay optimal control problems with time-varying delay and external persistent disturbances. By using the internal model principle, the original time-delay model with disturbance is first converted into an augmented system without any disturbance. Then, we select a quadratic performance index for the augmented system to form an undisturbed time-delay optimal control problem. The necessary optimality conditions are then derived in terms of a two-point boundary value problem involving advance and delay arguments. Finally, a fast iterative algorithm is designed for the latter advance-delay boundary value problem. The convergence of the new iterative technique is also investigated. Numerical simulations verify that the proposed approach is efficient and provides satisfactory results.

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