• Title/Summary/Keyword: Time Delay

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A Loop Shaping Method of PID Controller for Time delay Systems (시간 지연이 있는 시스템에서의 PID 제어기 설계를 위한 루프 형성 기법)

  • Yun Seong o;Suh Byung suhl
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.29 no.10C
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    • pp.1370-1377
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    • 2004
  • Optimal control gain for time-delay systems is made by an optimal control gain for delay-free systems multiplied by a state transition function for the delay time. The optimal control gain for delay-free systems is obtained by pushing two zeros of the PID controller closely to a larger pole of the second order plant. Thus the optimal tuning of PID controller for time-delay second order system is able to be obtained by calculation for the state transition function.

Vehicle Routing Problem with Delay Time in the Downtown (도심지의 지체 시간을 고려한 차량 경로 계획에 관한 연구)

  • Yun, Tae-Sik;Kim, Kyung-Sup;Jeong, Suk-Jae
    • Journal of the Korea Society for Simulation
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    • v.16 no.1
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    • pp.39-47
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    • 2007
  • The travel speed between two locations within the downtown differs according to time horizon and district. Also, There is delay time on numerous traffic signals and bottle neck areas. It has an influence on planning the vehicle routing. However, there are almost no studies focusing on delay time for distance and travel time between two locations among the existing researches for vehicle routing problem (VRP). In this paper, we approach the real VRP by designing the model which estimates the delay time for traffic signal and bottle neck areas. The results of computation experiment demonstrate that proposed method performs well and have better solution than other method not considering the delay time.

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Performance Analysis of Telerobotic Systems with Different Haptic and Video Time-delay (햅틱과 영상의 시간지연 차이에 따른 원격조종 로봇시스템의 성능분석)

  • Kim, Ye-Seul;Ryu, Jee-Hwan
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.3
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    • pp.286-292
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    • 2010
  • In this paper, we investigate the relationship between the performance of telerobotic systems and the two independent time-delay on different modality, which are haptic and video. Especially, we try to find some performance improvement when the amount of delay of haptic and video is synchronized. Experiments were conducted with 10 subjects by scanning the amount of video and haptic delay independently. It is rather interesting to note that the teleoperation performance was not that sensitive to video delay, and the synchronized video and haptic delay doesn't show better performance than the case when haptic delay is lower than video delay.

Real-Time Digital Fuzzy Control Systems considering Computing Time-Delay

  • Park, Chang-Woo;Shin, Hyun-Seok;Park, Mig-Non
    • Journal of the Korean Institute of Intelligent Systems
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    • v.10 no.5
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    • pp.423-431
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    • 2000
  • In this paper, the effect of computing time-delay in the real-time digital fuzzy control systems is investigated and the design methodology of a real-time digital fuzzy controller(DFC) to overcome the problems caused by it is presented. We propose the fuzzy feedback controller whose output is delayed with unit sampling period. The analysis and the design problem considering computing time-delay is very easy because the proposed controller is syncronized with the sampling time. The stabilization problem of the digital fuzzy control system is solved by the linear matrix inequality(LMI) theory. Convex optimization techniques are utilized to find the stable feedback gains and a common positive definite matrix P for the designed fuzzy control system Furthermore, we develop a real-time fuzzy control system for backing up a computer-simulated truck-trailer with the consideration of the computing time-delay. By using the proposed method, we design a DFC which guarantees the stability of the real time digital fuzzy control system in the presence of computing time-delay.

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Stability Bounds of Time-Varying Uncertainty and Delay Time for Discrete Systems with Time-Varying Delayed State (시변 시간지연을 갖는 이산시스템의 시변 불확실성의 안정 범위)

  • Han, Hyung-Seok
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.10
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    • pp.895-901
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    • 2012
  • The stability robustness problem of linear discrete systems with time-varying unstructured uncertainty of delayed states with time-varying delay time is considered. The proposed conditions for stability can be used for finding allowable bounds of timevarying uncertainty and delay time, which are solved by using LMI (Linear Matrix Inequality) and GEVP (Generalized Eigenvalue Problem) known as powerful computational methods. Furthermore, the conditions can imply the several previous results on the uncertainty bounds of time-invariant delayed states. Numerical examples are given to show the effectiveness of the proposed algorithms.

Time-Discretization of Nonlinear Systems with Time Delayed Output via Taylor Series

  • Yuanliang Zhang;Chong Kil-To
    • Journal of Mechanical Science and Technology
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    • v.20 no.7
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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.

H2 controller Design for Networked Contorl Systems with Time-Varying Delay (시변시간지연을 가지는 네트워크기반 제어시스템의 H2 제어기 설계)

  • Lee Hong Hee;Ro Young Shick;Kang Hee Jun;Suh Young Soo
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.12
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    • pp.1196-1201
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    • 2004
  • H₂ controller is proposed for networked control systems with time-varying delay. The time-varying network delay is assumed to be unknown, but its lower and upper bounds are assumed to be known. The time-varying delay is treated like a parameter variation and robust control technique is used to deal with the time-varying delay. The proposed controller can be computed by solving linear matrix inequalities. Through numerical simulations, the proposed controller is verified.

Control of Master-Slave System with Time Delay (시간지연을 가진 매스터-슬래이브 시스템의 제어에 관한 연구)

  • 정원진;최혁렬
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1995.10a
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    • pp.290-294
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    • 1995
  • In master-slave teleoperation system, time delay may be a critical problem because a task is performed over a distance. Even if the system is stable without time delay, time delay can make the system unstable. In this paper a new control scheme applicable to the system with time delay would be proposed,which is based on the conventional position-position feedback type controller. The stability of this control system is proved using scattering theory, and is compared with the conventional ones. By performing the simulation of a one-d.o.f master-slave system, the validity of the proposed algorithm is verified.

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Time-Discretization of Nonlinear control systems with State-delay via Taylor-Lie Series (Taylor-Lei Series에 의한 지연이 있는 비선형 시스템의 시간 이산화)

  • Zhang, Yuanliang;Lee, Yi-Dong;Chong, Kil-To
    • Proceedings of the KIEE Conference
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    • 2005.05a
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    • pp.125-127
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    • 2005
  • In this paper, we propose a new scheme for the discretization of nonlinear systems using Taylor series expansion and the zero-order hold assumption. This scheme is applied to the sample-data representation of a nonlinear system with constant state tine-delay. The mathematical expressions of the discretization scheme are presented and the effect of the time-discretization method on key properties of nonlinear control system with state tine-delay, such as equilibrium properties and asymptotic ability, is examined. The proposed scheme provides a finite-dimensional representation for nonlinear systems with state time-delay enabling existing controller design techniques to be applied to then. The performance of the proposed discretization procedure is evaluated using a nonlinear system. For this nonlinear system, various sampling rates and time-delay values are considered.

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Controller Synthesis for Nonlinear Systems with Time-delay using Model Algorithmic Control (MAC)

  • Choi, Hyung-Jo;Chong, Kil-To
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.566-570
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    • 2005
  • A digital controller for nonlinear time-delay system is proposed in this paper. A nonlinear time-delay system is discretized by using Taylor's discretization method. And the discretized system can be converted to a general nonlinear system. For this reason, general nonlinear controller synthesis can be applied to the discretized time-delay system. We adopted MAC controller synthesis for this study. Computer simulations are conducted to verify the performance of the proposed method. The results of simulation show good performance of the proposed controller synthesis and the proposed method is useful to control nonlinear time-delay system easily.

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