Predictive control for systems with time delay

Furukawa, Toshio; Shimemura, Etsujiro

doi:10.1080/00207178308932979

Cited by 144 publications

(51 citation statements)

References 9 publications

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“…In the system by which human operates a machine, the machine can be considered and the plant and human be regarded as a compensator. When delay time is in the closed system, the effect of control input appears late and a high gain makes the feedback system unstable (12). The time delay e −sL does not change a gain of system but only change a phase of system and degrease in time delay L increases a stability margin of phase.…”

Section: Human Model and Skill In Tele Operation Control Systemmentioning

confidence: 99%

Consideration of Skill Improvement on Remote Control by Wireless Mobile Robot

Hidaka¹,

Saida²,

Suzuki³

2010

Remote and Telerobotics

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This paper considers the quantification of skill progress in order to measure a remote operational skill online. This method is very important to make a support system adapting to operator. This support system is called as Human Adaptive Mechatronics (HAM) System, and HAM was done as Center of excellent(COE) project promoted by Japan Society for the Promotion of Science. Many approaches exist to attain this goal and human skill level depends on many factors such as condition, equipment and environment of operation. Therefore we first pay attention to delay time during the machine operation in order to aim at the acquisition of evaluation quantity on state of skill and we examine relationship between skill level and input/output delay time. For this analysis, we utilize a tele operated robot system to obtain data. We experiment with a simple task in which we operate a wireless mobile robot(WMR) with pinhole camera in order to reach the goal through the two check points. It is necessary that human operates machine by using image information from display monitor in the tele operation system. We analyze the correlation between operation date and WMR position based on these data. Next, we especially investigate a change of operational skill progress on curve path using data measured by simple task and analyze the data because curve control of tele operating robot only based on display is difficult to the operation in straight line path for human. For this purpose, we identified a delay of response with operation data based on ARX (AutoRegressive model with eXogenous input) model by using position and attitude data of the robot and then we analyze relationship and progress of skill level by using these data. A system operated by human can be considered as a closed loop system, and human can be regarded as controller in the system(3; 4). Furthermore, we classify operators into groups by correlation between delay time and total time of operation and area of stability poles and total time. And we analyze data by data of distance, total time and curvature and decide effective and important factors to skill level for each group. As these results, we consider skill parameter of tele-operations. IntroductionWe are living a comfortable life by using various gadgets of mechatronics products now. We use many machines in our work or life today and we usually operate the machines. There is not only simple machine system, such as cleaning machine, but also complex machine system, e.g. airplane system. Mechatronics is a key technology in our today's society. Mechatronics 7 www.intechopen.com Remote and Telerobotics 114is known as the discipline integrated by mechanical, electrical and information technology and has been used to produce advanced artifacts used in modern society. The main issue of the mechatronics, however, is how to control the machine effectively. Mechatronics has been developing to design integrated systems that consider human and environment, recently. It is easy for me to manipulate the simple machine bu...

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Section: Human Model and Skill In Tele Operation Control Systemmentioning

confidence: 99%

Consideration of Skill Improvement on Remote Control by Wireless Mobile Robot

Hidaka¹,

Saida²,

Suzuki³

2010

Remote and Telerobotics

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“…We also use the signal r(k+d) in Fig.5 as the reference signal. The simulation result obtained using the proposed method is compared with the results obtained using the Smith predictor and the PID control with time delay compensation [7] as the previous method. …”

Section: Simulation Studymentioning

confidence: 99%

A Discrete PID Control System Using Predictors and an Observer for the Influence of a Time Delay

Hikichi¹,

Sasaki²,

Tanaka³

et al. 2013

IJMO

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Abstract-In this paper, a control system for the influence of a time delay compensation using predictors and a disturbance observer is proposed. The time delay in the controlled plant is one of the serious problems decreasing the control stability. Therefore, many control methods for controlled plants with a time delay have been proposed until now. We proposed an effective control system for influence of time delay by connecting predictors and a disturbance observer to a PID control system. It alleviates the influence of the time delay on the target response and disturbance response.

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“…Although a number of improved versions of the Smith predictor have been proposed by many researchers, the Smith predictor methods suffer from some inherent shortcomings. First, the Smith predictor cannot be applied to unstable systems [3]. The second drawback is that the initial state of the system is ignored in the Smith predictor method.…”

Section: Citationmentioning

confidence: 99%

Stabilization of linear systems with distributed input delay using reduction transformation

Choon

2011

Chin. Sci. Bull.

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We propose a new stabilization method for linear systems with distributed input delay via reduction transformation and Riccati equation approach. In the presented stabilization scheme, the gain matrix of controller is constructed by the well-known linear control technique for delay-free systems. The transformation kernel matrix can be determined by solving the non-symmetric matrix Riccati equation backward with the boundary condition. When point delay systems are considered, it will be shown that the proposed control law degenerates to the standard one for input delay systems.delay systems, delay-free systems, distributed delay, reduction transformation, riccati equation Citation:Choon K A. Stabilization of linear systems with distributed input delay using reduction transformation. Chinese Sci Bull, 2011Bull, , 56: 1413Bull, −1416Bull, , doi: 10.1007 In industrial processes, time delays often occur in the transmission of information or material between different parts of a system. The presence of time delays causes serious deterioration on the stability and performance of the system and considerable researches have been done on the control problems of time delay systems [1,2]. Time delay systems are a special case of infinite dimensional systems which have an infinite number of poles. This feature makes the control of time delay systems a difficult task to handle. The easiest way is to reduce time delay systems to delayfree systems and then apply the well developed control techniques for the finite dimensional systems. The Smith predictor may be one of the most well known delay compensation methods utilizing this concept. Although a number of improved versions of the Smith predictor have been proposed by many researchers, the Smith predictor methods suffer from some inherent shortcomings. First, the Smith predictor cannot be applied to unstable systems [3]. The second drawback is that the initial state of the system is ignored in the Smith predictor method. The degradation of the performance is an inevitable result, when it is applied to the systems with nonzero initial conditions. The third shortcoming is the lack of robustness. The performance of the Smith predictor method is sensitive to the accuracy of the model of the system and time delay. It also suffers from sluggish responses to disturbances. To overcome the above mentioned difficulties, a number of improved versions of the Smith predictor have been proposed by many researchers [4]. The reduction transformation method is a different approach from the state-space setting to overcome these problems. The explicit reduction transformation method of input delay systems was suggested by Kwon and Pearson [5]. In [5], Kwon and Pearson employed the receding horizon method to input delay systems, where an unexpected good stabilization method (reduction transformation) was founded. The reduction transformation method was extended to the output-feedback case in [6], where a delay-free observer was introduced. This observer can directly estimate the linear funct...

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Predictive control for systems with time delay

Cited by 144 publications

References 9 publications

Consideration of Skill Improvement on Remote Control by Wireless Mobile Robot

Consideration of Skill Improvement on Remote Control by Wireless Mobile Robot

A Discrete PID Control System Using Predictors and an Observer for the Influence of a Time Delay

Stabilization of linear systems with distributed input delay using reduction transformation

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