• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.1201-1204
• /
• 1996

The previous results on LTR methods for time delay systems need the solution of the operator-type Riccati equation. In addition, it can be difficult to make the target loop shape representing the design specification. This paper proposes a new LTR method for input-delayed systems using well-established LTR method for non-delay systems. For doing this, a time delay margin is derived and the time delay of the input-delayed systems is assumed less than equal to the time delay margin. A simple example is presented for illustrations.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2003.05a
• /
• pp.321-324
• /
• 2003

This paper discusses a robust stochastic stabilization of uncertain Takagi-Sugeno (T-S) fuzzy system with Markovian input delay. The finite Markovian process is adopted to model the input delay of the overall control system. It is assumed that the zero and hold devices are used for control input. The continuous-time T-S fuzzy system with the Markovian input delay is discretized for easy handling delay, accordingly, the discretixzd T-S fuzzy system is represented by a uncertain discrete-time T-S fuzy system with jumping parameters. The robust stochastic stabilizibility of the uncertain jump T-S fuzzy system is derived and formulated in terms of linear matrix inequalities (LMIs).

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.46 no.2
• /
• pp.52-60
• /
• 2009

This paper proposes a digital controller for a nonlinear multi-input/multi-output(MIMO) system with time-delayed input. A nonlinear system with multi-input time delay is discretized using Taylor's discretization method, and the discretized system can be converted into a general nonlinear system. Consequently, general nonlinear controller synthesis can be applied to the discretized time-delay system We adopted MAC controller synthesis and verified the performance of the proposed method by conducting computer simulations. The results of the simulation showed that the proposed controller synthesis performs well and the proposed method is useful for controlling a nonlinear time-delay system.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.13 no.3
• /
• pp.293-299
• /
• 2003

This paper discusses a design of intelligent controller with time delay for Internet-based remote control. The finite Markovian process is adopted to model the input delay of the overall control system. It is assumed that the zero and hold devices are used for control input. The Takagi-Sugeno (T-S) fuzzy system with uncertain input delay is utilized to represent nonlinear plant. The continuous-time T-S fuzzy system with the Markovian input delay is discretized for easy handling delay, accordingly, the discretized T-S fuzzy system is represented by a discrete-time T-S fuzzy system with jumping parameters. The robust stochastic stabilizibility of the jump T-S fuzzy system is derived and formulated in terms of linear matrix inequalities (LMIs). An experimental results is provided to visualize the feasibility of the proposed method.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.87.5-87
• /
• 2001

In the past, we presented the tracking system with one sampling delay. In this paper, first we propose a tracking system with N-th sampling delay, in the case where an input-output pulse transfer function of a plant Z$\_$-N/. Secondly we propose a system configuration converting an input-output pulse transfer function of a plant into Z$\_$-N/ with the inverse system of the plant. Moreover, the proposed tracking system configuration is applied to an actual Ball and Beam system and good results are obtained.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.82.1-82
• /
• 2001

It is known that existence of irregular transmission time delay is a major bottleneck for application of advanced robot control schemes to internet telerobotic systems. In the internet teleoperation system, the irregular transmission time delay causes a critical problem, which is unstable and inaccurate. This paper suggests a practical internet teleoperation system with streaming buffer system, which consists of a buffer, a buffer manager, and a control timer. The proposed system converts the irregular transmission time delay to constant. So, the system effectively transmits the control input to a remote site to operate a robot stably and accurately. This feature enables short control input interval. That means the entire system has ...

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1452-1455
• /
• 1997

This paper studies the problem of approximating commensurate input delay sustems by finite dimensional systems based on the Hankel singular values. I is shown that the Gankel singular values are solutions a trancendental equation and the Hankel singular vectors are obtained form the kernel of the matrix. The computaioin is carried out in state spae framework. Once singular values and vectors are calcualted, finite dimensional approximated systems are constructed using stadnard linear system computational tools. An example is included.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.341-341
• /
• 2000

This paper presents a sliding mode control(SMC) design method for single input linear systems with uncertainties and time delay in the state. We define a sliding surface for the augmented system with a virtual state which is defined from the nominal system. We make a virtual state from optimal control input using LOR(Linear Quadratic Regulator) and the states of the nominal system. We construct a controller that combines SMC with optimal controller. The proposed sliding mode controller stabilizes on the overall closed-loop system.

• Smart Structures and Systems
• /
• v.14 no.6
• /
• pp.1173-1196
• /
• 2014

Real-time dynamic substructuring tests have been conducted on a cable-deck system. The cable is representative of a full scale cable for a cable-stayed bridge and it interacts with a deck, numerically modelled as a single-degree-of-freedom system. The purpose of exciting the inclined cable at the bottom is to identify its nonlinear dynamics and to mark the stability boundary of the semi-trivial solution. The latter physically corresponds to the point at which the cable starts to have an out-of-plane response when both input and previous response were in-plane. The numerical and the physical parts of the system interact through a transfer system, which is an actuator, and the input signal generated by the numerical model is assumed to interact instantaneously with the system. However, only an ideal system manifests a perfect correspondence between the desired signal and the applied signal. In fact, the transfer system introduces into the desired input signal a delay, which considerably affects the feedback force that, in turn, is processed to generate a new input. The effectiveness of the control algorithm is measured by using the synchronization technique, while the online adaptive forward prediction algorithm is used to compensate for the delay error, which is present in the performed tests. The response of the cable interacting with the deck has been experimentally observed, both in the presence of delay and when delay is compensated for, and it has been compared with the analytical model. The effects of the interface delay in real-time dynamic substructuring tests conducted on the cable-deck system are extensively discussed.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.42 no.1
• /
• pp.13-21
• /
• 2005

This paper presents a fuzzy model-based approach for synchronization of time-delay chaotic system with input saturation. Time-delay chaotic drive and response system is respectively represented by Takagi-Sugeno (T-S) fuzzy model. Specially, the response system contains input saturation. Using the unidirectional linear error feedback and the parallel distributed compensation (PDC) scheme, we design fuzzy chaotic synchronization system and analyze local stability for synchronization error dynamics. Since time-delay in the transmission channel always exists, we also take it into consideration. The sufficient condition for the local stability of the fuzzy synchronization system with input saturation and time-delay is derived by applying Lyapunov-Krasovskii theory and solving linear matrix inequalities (LMI's) problem. A numerical example is given to demonstrate the validity of the proposed approach.