대한전자공학회:학술대회논문집 (Proceedings of the IEEK Conference)
- 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
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- Pages.13-16
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- 2002
예측제어기를 이용한 불확실한 시간지연 보상
Compensation of the Uncertain Time Delays Using a Predictive Controller
초록
In this paper, we newly propose a predictor model which is a method to overcome the time-varying delay in a system and we verify that the predictor model is well suited for the time-delayed system and improves the stability a lot through the experiments. The proposed predict compensator compensates uncertain time delays and minimizes variance of system performance. Therefore it is suitable for the control of uncertain systems and nonlinear systems that are difficult to be modeled. The simulation conditions are set for the cases of various input time delays and simulations are applied for the 2-axis robot arms which are drawing a circle on the plane. Conclusively, the proposed predict compensator represents stable properties regardless of the time delay. As a future research, we suggest to develope a robust control algorithm to compensate the random time delay which occurs in the tole-operated systems.
키워드