Design of An Advanced Time Delay Measurement and A Smart Adaptive Unequal Interval Grey Predictor for Real-Time Nonlinear Control Systems

Dinh, Truong Quang; Ahn, Kyoung Kwan; Trung, Nguyen Thanh

doi:10.1109/tie.2012.2213552

Cited by 35 publications

(48 citation statements)

References 32 publications

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“…Here, PIC18F4620 MCU from microchip equipped with a 4 MHz oscillator is suggested to be used [19]. The real-time measurement accuracy of 50μs [19] which is suitable for this application. For each step k th , the TDPD enhances the following tasks:…”

Section: Design Of Tdpdmentioning

confidence: 99%

“…2) The network module includes one coordinator and one router employed the ZigBee protocol [19]. The multifunction card was used to perform the communications with the TDPD module and the network.…”

Section: Networked Control System Setupmentioning

confidence: 99%

“…Furthermore, computation delay normally at the master side is also one important factor affecting directly the system performance. Recently, an advanced robust variable sampling period control approach has been developed for nonlinear systems containing both the kinds of delays and packet dropouts [19][20][21]. The applicability of this method was proved through real-time experiments.…”

Section: Introductionmentioning

confidence: 99%

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A Real-Time Bilateral Teleoperation Control System over Imperfect Network

Dinh¹,

Yoon²,

Ha³

et al. 2016

Real-Time Systems

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Functionality and performance of modern machines are directly affected by the implementation of real-time control systems. Especially in networked teleoperation applications, force feedback control and networked control are two of the most important factors, which determine the performance of the whole system. In force feedback control, generally it is necessary but difficult and expensive to attach sensors (force/torque/pressure sensors) to detect the environment information in order to drive properly the feedback force. In networked control, there always exist inevitable random time-varying delays and packet dropouts, which may degrade the system performance and, even worse, cause the system instability. Therefore in this chapter, a study on a real-time bilateral teleoperation control system (BTCS) over an imperfect network is discussed. First, current technologies for teleoperation as well as BTCSs are briefly reviewed. Second, an advanced concept for designing a bilateral teleoperation networked control (BTNCS) system is proposed, and the working principle is clearly explained. Third, an approach to develop a force-sensorless feedback control (FSFC) is proposed to simplify the sensor requirement in designing the BTNCS, while the correct sense of interaction between the slave and the environment can be ensured. Fourth, a robust-adaptive networked control (RANC)-based master controller is introduced to deal with control of the slave over the network containing both time delays and information loss. Case studies are carried out to evaluate the applicability of the suggested methodology.

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Section: Design Of Tdpdmentioning

confidence: 99%

Section: Networked Control System Setupmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Real-Time Bilateral Teleoperation Control System over Imperfect Network

Dinh¹,

Yoon²,

Ha³

et al. 2016

Real-Time Systems

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“…Nevertheless, the observation of real delay data to train and construct the NCSs was not appropriately discussed in these studies. To solve this problem, an advanced variable sampling period control concept has been developed for systems containing random delays [29]. The effectiveness of this concept in accurately detecting and predicting the delays without requiring a training process was proved through real-time experiments.…”

mentioning

confidence: 99%

“…This is because the system response is relevant to the control input. The applicability of the PINNGM models is investigated via the following examples.Example 3.1: A comparative study of four grey models, GM(1,1), SAUIGM(1,1) [29], AGM(1,1) [36] and PINNGM(1,1), has been carried out to investigate the capability in predicting the network delay problem studied in [29] and [36]. Because the GM is limited to equal-time-series prediction, the real-time estimations were performed for a 30-second period in which there were only time delays in the network.…”

mentioning

confidence: 99%

A Novel Robust Predictive Control System Over Imperfect Networks

Dinh

Ahn

Marco

2017

IEEE Trans. Ind. Electron.

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Abstract-This paper aims to study on feedback control for a networked system with both uncertain delays, packet dropouts and disturbances. Here, a so-called robust predictive control (RPC) approach is designed as follows: 1-delays and packet dropouts are accurately detected online by a network problem detector (NPD); 2-a so-called PI-based neural network grey model (PINNGM) is developed in a general form for a capable of forecasting accurately in advance the network problems and the effects of disturbances on the system performance; 3-using the PINNGM outputs, a small adaptive buffer (SAB) is optimally generated on the remote side to deal with the large delays and/or packet dropouts and, therefore, simplify the control design; 4-based on the PINNGM and SAB, an adaptive sampling-based integral state feedback controller (ASISFC) is simply constructed to compensate the small delays and disturbances. Thus, the steady-state control performance is achieved with fast response, high adaptability and robustness. Case studies are finally provided to evaluate the effectiveness of the proposed approach.Index Terms-Networked control system, time delay, state feedback control, predictor, neural network, buffer. I. INTRODUCTIONETWORKED control systems (NCSs) are spatially distributed systems, in which actuators and sensors at the plant side are connected to a controller at the remote side. Due to having many advantages over the traditional control schemes via point-to-point wiring, NCSs have been deploying worldwide in various applications, such as power grids, transportation systems, teleoperation or remote systems.However for practical uses of NCSs, the most important issues are network-included random time-varying delays and packet dropouts which deteriorate the control performances and, easily cause the instability [1], [5], [25], and [29]. Generally, time delays can be classified into three components: computation delays at the controller and communication delays at the forward and backward channels.Many studies in literature addressed stability of NCSs with delay problem only [1]- [6]. Here, the controller designs were depended on the assumptions in which the time delay was constant [1], bounded [2]- [5] or had a probability distribution function [6]. Other researchers focused on analyzing time delay problem at communication channels to evaluate its effects on the system performances as well as to compensate these undesirable effects [7] and [8]. For NCSs with large delays, a new control concept based on variable sampling periods using neural network or prediction theories has been recently adopted [9]- [11]. Nevertheless, the observation of real delay data to train and construct the NCSs was not appropriately discussed in these studies. To solve this problem, an advanced variable sampling period control concept has been developed for systems containing random delays [29]. The effectiveness of this concept in accurately detecting and predicting the delays without requiring a training process was proved through real-time ...

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2021

Cyber‐Physical Distributed Systems

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Design of An Advanced Time Delay Measurement and A Smart Adaptive Unequal Interval Grey Predictor for Real-Time Nonlinear Control Systems

Cited by 35 publications

References 32 publications

A Real-Time Bilateral Teleoperation Control System over Imperfect Network

A Real-Time Bilateral Teleoperation Control System over Imperfect Network

A Novel Robust Predictive Control System Over Imperfect Networks

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