• Journal of Mechanical Science and Technology
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• 제20권7호
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• pp.950-960
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• 2006

An output time delay always exists in practical systems. Analysis of the delay phenomenon in a continuous-time domain is sophisticated. It is appropriate to obtain its corresponding discrete-time model for implementation via a digital computer. A new method for the discretization of nonlinear systems using Taylor series expansion and the zero-order hold assumption is proposed in this paper. This method is applied to the sampled-data representation of a nonlinear system with a constant output time-delay. In particular, the effect of the time-discretization method on key properties of nonlinear control systems, such as equilibrium properties and asymptotic stability, is examined. In addition, 'hybrid' discretization schemes resulting from a combination of the 'scaling and squaring' technique with the Taylor method are also proposed, especially under conditions of very low sampling rates. A performance of the proposed method is evaluated using two nonlinear systems with time-delay output.

• Journal of Power Electronics
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• 제12권5호
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• pp.715-722
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• 2012

New discrete time domain models for the peak current controlled (PCC) power LED drivers in continuous conduction mode include for the first time the effects of the time delay in the pulse-width-modulator. Realistic amounts of time delay are found to have significant effects on the average output LED current and on the critical inductor value at the boundary between the two conduction modes. Especially, the time delay can provide an accurate LED current for the PCC buck converter with a wide input voltage. The models can also predict the critical inductor value at the mode boundary as functions of the input voltage and the time delay. The overshoot of the peak inductor current due to the time delay results in the increase of the average output current and the reduction of the critical inductor value at the mode boundary in all converters. Experimental results are presented for the PCC buck LED driver with constant-frequency controller.

• 한국지능시스템학회논문지
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• 제12권6호
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• pp.559-564
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• 2002

This Paper Proposes a design method of a fuzzy output feedback controller for the nonlinear systems with the unknown time- delay. Recently, Cao et ai. proposed a stabilization method for the nonlinear time-delay systems using a fuzzy controller when the time-delay is known. However, the time-delay is likely to be unknown in practical. We represent the nonlinear systems with the unknown time-delay by Takagi-Sugeno (T-5) fuzzy model and design the fuzzy observer and the parallel distributed compensation (PDC) law based on this observer. By applying Lyapunov-Krasovskii theorem to the closed-loop system, the sufficient condition for the asymptotic stability of the equilibrium Point is derived and converted into the linear matrix inequality (LMI) Problem.

• 제어로봇시스템학회논문지
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• 제13권11호
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• pp.1099-1105
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• 2007

In this paper, modified two-port time-domain passivity approach is proposed for stable bilateral control of teleoperators under time-varying communication delay. We separate input and output energy at each port of a bilateral controller, and propose a sufficient condition for satisfying the passivity of the bilateral controller including time-delay. Output energy at the master port should be less than the transmitted input energy from the slave port with time-delay, and output energy at the slave port should be less than the transmitted input energy from the master port with time-delay. For satisfying above two conditions, two passivity controllers are attached at each port of the bilateral controller. A packet reflector with wireless internet connection is used to introduce serious time-varying communication delay of teleoperators. Average amount of time-delay was about 190(msec) for round trip, and varying between 175(msec) and 275(msec). Moreover some data packet was lost during the communication due to UDP data communication. Even under the serious time-varying delay and packet loss communication condition, the proposed approach can achieve stable teleoperation in free motion and hard contact as well.

• 한국통신학회논문지
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• 제28권9B호
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• pp.751-759
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• 2003

진행형 지연선로 또는 지연선 루프를 저장 유닛으로 사용하는 시간 분할 다중합(TDM) 광 출력 버퍼의 셀 손실 확률, 셀 지연 시간 등의 성능을 분석하여 보았다. 저장 유닛으로 사용되는 진행형 지연선로는 지연선 루프보다 그 구조가 단순하고, 저장 신호의 질적인 면에서 더 우수하여, 기존 TDM 광 출력 버퍼에 사용되었다. 반면에, 지연선 루프는 루프 내에서의 셀 회전 수 조절을 통해 저장 시간을 조절할 수 있다는 점에서 진행형 지연선로보다 그 유연성이 우수하다. 따라서 지연선 루프를 저장 유닛으로 사용하는 새로운 TDM 광 출력 버퍼를 제안하였다. 제안한 TDM 광 출력 버퍼는 $10^{-9}$ 이하의 셀 손실 확률을 얻기 위해 필요한 저장 유닛의 수를 줄일 수 있음을 보였다. 그리고 저장 유닛의 수가 충분히 클 때, 두 가지 TDM 광 출력 버퍼는 동일한 셀 지연 시간 특성을 보였다.

• 대한기계학회논문집A
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• 제26권6호
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• pp.1035-1046
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• 2002

Time Delay Control(TDC) is a robust nonlinear control scheme using Time Delay Estimation(TDE) and also has a simple structure. To apply TDC to a real system, we must design Time Delay Controller to guarantee stability. The earlier research stated sufficient stability condition of TDC for general plants. In that research, it was assumed that time delay is infinitely small. But, it is impossible to implement infinitely small time delay in a real system. So, in this research we propose a new sufficient stability condition of TDC for general plants with finite time delay. And the simulation results indicate that the previous sufficient stability condition does not work even for small time delay, while our proposed condition works well.

• 동력기계공학회지
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• 제13권2호
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• pp.71-82
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• 2009

This paper presents a real-time haptic rendering method for a realistic force feedback in a remote environment with varying communication time-delay. The remote environment is assumed as a virtual environment based on a computer graphics, for example, on-line shopping mall, internet game and cyber-education. The properties of a virtual object such as stiffness and viscosity are assumed to be unknown because they are changed according to the contact position and/or a penetrated depth into the object. The DARMAX model based output estimator is proposed to trace the correct impedance of the virtual object in real-time. The output estimator is developed on the input-output relationship. It can trace the varying impedance in real-time by virtue of P-matrix resetting algorithm. And the estimator can trace the correct impedance by using a white noise that prevents the biased input-output information. Realistic output forces are generated in real-time, by using the inputs and the estimated impedance, even though the communication time delay and the impedance of the virtual object are unknown and changed. The generated forces trace the analytical forces computed from the virtual model of the remote environment. Performance is demonstrated by experiments with a 1-dof haptic device and a spring-damper-based virtual model.

• 제어로봇시스템학회논문지
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• 제9권5호
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• pp.374-378
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• 2003

A new discrete-time fuzzy output feedback control method for nonlinear systems with unknown time-delay is proposed. Ma et al. proposed an analysis and design method of fuzzy controller and observer and Cao et al. extend this result to be applicable fir the nonlinear systems with known time-delay. For the case of unknown time-delay, we derive the sufficient condition f3r the asymptotic stability of the equilibrium Point by applying Lyapunov-Krasovskii theorem and convert this condition into the LMI problem.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.768-773
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• 2004

This work deals with the synthesis of discrete-time nonlinear controller for input time-delay existing nonlinear system and proposes a new effective method to compensate the influence of input time-delay. The controller is synthesised by using input/output linearization. Under the circumstance that input time-delay exist, controller have to produce future value that will be needed for system. On account of this reason described, a weighted average predictor of combined states is adopted. Using the discretization via Euler method, numerical simulations about Van der Pol system are performed to evaluate performance of the proposed method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 학술대회 논문집 정보 및 제어부문
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• pp.462-463
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• 2008

This paper proposes a method for dynamic output-feedback controller design for stochastic time-delay systems. Based on recent results on time-delay systems control, a tractable and delay-dependent design condition is proposed, which provides a dynamic output-feedback controller to render the closed-loop stochastic time-delay systems to be asymptotically stable in the mean-square sense. The feasibility problem of the proposed condition is recast into a cone complementarity problem. An algorithm adopting cone complementarity linearization is presented to solve the resulting problem.