Electromagnetic brake control strategy: A LMI-MPC/GPC comparison subject to time delay

2012 ◽  
Author(s):  
Wilkley Bezerra Correia ◽  
Bismark Claure Torrico
Keyword(s):  
Time Delay ◽  
Control Strategy ◽  
Electromagnetic Brake ◽  
Comparison Subject

Control of Uncertain LTI Systems Based on an Uncertainty and Disturbance Estimator

2004 ◽  
Vol 126 (4) ◽  
pp. 905-910 ◽  
Author(s):  
Qing-Chang Zhong ◽  
David Rees
Keyword(s):  
Time Delay ◽  
Robust Control ◽  
Robust Stability ◽  
Control Strategy ◽  
Time Delay Control ◽  
Delay Control ◽  
Uncertainty And Disturbance Estimator ◽  
Derivatives Of ◽  
Siso Systems ◽  
Disturbance Estimator

This paper proposes a robust control strategy for uncertain LTI systems. The strategy is based on an uncertainty and disturbance estimator (UDE). It brings similar performance as the time-delay control (TDC). The advantages over TDC are: (i) no delay is introduced into the system; (ii) there are no oscillations in the control signal; and (iii) there is no need of measuring the derivatives of the state vector. The robust stability of LTI-SISO systems is analyzed, and simulations are given to show the effectiveness of the UDE-based control with a comparison made with TDC.

scholarly journals New time delay estimation-based virtual decomposition control for n-DoF robot manipulator

2021 ◽  
Vol 10 (3) ◽  
pp. 192
Author(s):  
Hachmia Faqihi ◽  
Khalid Benjelloun ◽  
Maarouf Saad ◽  
Mohammed Benbrahim ◽  
M. Nabil Kabbaj
Keyword(s):  
Time Delay ◽  
Dynamic Model ◽  
Control Strategy ◽  
Robot Manipulator ◽  
Time Delay Estimation ◽  
Lyapunov Theory ◽  
Degree Of Freedom ◽  
Delay Estimation ◽  
The Stability

<p>One of the most efficient approaches to control a multiple degree-of-freedom robot manipulator is the virtual decomposition control (VDC). However, the use of the re- gressor technique in the conventionnal VDC to estimate the unknown and uncertaities parameters present some limitations. In this paper, a new control strategy of n-DoF robot manipulator, refering to reorganizing the equation of the VDC using the time delay estimation (TDE) have been investigated. In the proposed controller, the VDC equations are rearranged using the TDE for unknown dynamic estimations. Hence, the decoupling dynamic model for the manipulator is established. The stability of the overall system is proved based on Lyapunov theory. The effectiveness of the proposed controller is proved via case study performed on 7-DoF robot manipulator and com- pared to the conventionnal Regressor-based VDC according to some evalution criteria. The results carry out the validity and efficiency of the proposed time delay estimation- based virtual decomposition controller (TD-VDC) approach.</p>

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