• Structural Engineering and Mechanics
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• 제20권2호
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• pp.191-207
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• 2005

Time delay exists inevitably in active control, which may not only degrade the system performance but also render instability to the dynamic system. In this paper, a novel active controller is developed to solve the time delay problem in flexible structures. By using the independent modal space control method, the differential equation of the controlled mode with time delay is obtained from the time-delay system dynamics. Then it is discretized and changed into a first-order difference equation without any explicit time delay by augmenting the state variables. The modal controller is derived based on the augmented system using the discrete variable structure control method. The switching surface is determined by minimizing a discrete quadratic performance index. The modal coordinate is extracted from sensor measurements and the actuator control force is converted from the modal one. Since the time delay is explicitly included throughout the entire controller design without any approximation, the system performance and stability are guaranteed. Numerical simulations show that the proposed controller is feasible and effective in active vibration control of dynamic systems with time delay. If the time delay is not explicitly included in the controller design, instability may occur.

• 제어로봇시스템학회논문지
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• 제13권11호
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• pp.1099-1105
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• 2007

In this paper, modified two-port time-domain passivity approach is proposed for stable bilateral control of teleoperators under time-varying communication delay. We separate input and output energy at each port of a bilateral controller, and propose a sufficient condition for satisfying the passivity of the bilateral controller including time-delay. Output energy at the master port should be less than the transmitted input energy from the slave port with time-delay, and output energy at the slave port should be less than the transmitted input energy from the master port with time-delay. For satisfying above two conditions, two passivity controllers are attached at each port of the bilateral controller. A packet reflector with wireless internet connection is used to introduce serious time-varying communication delay of teleoperators. Average amount of time-delay was about 190(msec) for round trip, and varying between 175(msec) and 275(msec). Moreover some data packet was lost during the communication due to UDP data communication. Even under the serious time-varying delay and packet loss communication condition, the proposed approach can achieve stable teleoperation in free motion and hard contact as well.

• 대한전기학회논문지
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• 제39권9호
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• pp.997-1005
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• 1990

Integral Error and State Feedback (IESF) controller which incorporates state feedback as a modern control scheme and integral action as a classical control scheme has better performance than that of conventional PID controller in linear time invariant system. But the structure of the IESF controller requires all the state variables of the system and is applicable only to pole assignable linear time invariant systems without time delay. Many industrial processes have large time delay and it is impossible to directly apply IESF control scheme to those processes. In this paper, a new controller structure, Modified Integral Error and State Feedback (MIESF) has been suggested in order to effectively control processes having time delay and its performance has been analyzed and its effectiveness has also been confirmed. As the proposed controller uses output feedback scheme based on integral error and state feedback (IESF) method, it can be simply designed by pole assignment algorithm irrespective of the order of the process. The MIESF controller can follow setpoint changes without overshoot. It is robuster than conventional Smith-Predictor plus PI(D) controller in case of occurring time delay mismatch and extra parameter mismatches between the process and the model. It can enhance control performance by intentional time delay mismatch.

• 제어로봇시스템학회논문지
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• 제6권8호
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• pp.617-622
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• 2000

In this paper proposed is an $H_{\ifty}$ based flow controller for the ATM networks. The round trip time-delay uncertainty is taken into account and robustness of the proposed controller is analyzed. Maximum allowable time-delay uncertainties are computed with different weightings on performance and robustness. And discussed is a time-domain implementation method of the proposed controller. Time domain simulation with realistic environment demonstrates that the performance of the proposed controller is much better than that of conventional one.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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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.

• 한국정밀공학회지
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• 제17권12호
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• pp.176-184
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• 2000

TDC(Time Delay Control) deals with the time-varying system parameters, unknown dynamics and unexpected disturbances using time delay. TDC can be divided into two separate parts: an auxiliary controller and a servo controller. The two controllers can be designed independently. The auxiliary controller is used to reduce sensitivity to parameter variations, nonlinear effects, and other disturbances. The servo controller is to reduce the error between the desired command and output. We propose the model-following time delay controller with modified error feedback controller. This was applied to follow the desired reference model for the uncertain time-varying overhead crane. The model generates the damped-out swinging motion trajectory to suppress the swinging motion caused by the acceleration and the deceleration of crane transportation. The control performance was evaluated through simulations. The theoretical results indicate that this control method shows excellent performance to an overhead crane with the uncertain time-varying parameters.

• 한국통신학회논문지
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• 제29권10C호
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• pp.1370-1377
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• 2004

시간 지연이 있는 시스템에서의 최적 제어 이득은 시간 지연이 없는 시스템에서 설계된 최적 제어 이득과 지연 시간에 대하여 계산된 상태천이 함수의 곱의 형태로 나타난다. 따라서 시간 지연이 없는 시스템에 대하여 PID제어기의 영점들을 플랜트의 최대 극점에 근접하도록 가중치 요소 Q와 R을 선택하여 최적 제어 이득을 구하고, 시간 지연이 있는 2차 시스템에서의 상태천이 함수를 계산하여 시간 지연이 있는 시스템에서의 강인한 최적 PID 제어기 설계가 가능하도록 하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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• pp.246-248
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• 2006

This paper is concerned with non-fragile guaranteed cost state feedback controller design algorithm for descriptor systems with time-varying delay and static state feedback controller with multiplicative uncertainty. The considered uncertainties are norm-bounded and time delay is time-varying. Under the condition of controller gain variations, conditions for the existence of controller satisfying asymptotic stability and non-fragility and controller design method are derived via LMI approach. Moreover, the measure of non-fragility and the upper bound to minimize guaranteed cost function are given.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.225-225
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• 2000

We propose the hybrid robust controller for TDC(Time Delay Control) and SMC(Sliding Mode Control) method. TDC and SMC deal with the time-varying system parameters, unknown dynamics and unexpected disturbance. This controller is applied to follow the desired reference model for the uncertain time-varying overhead crane. The control performance is evaluated through simulation. The theoretical results indicate That the proposed controller shows excellent performance to an overhead crane with the uncertain time-varying parameters and disturbance.

• 제어로봇시스템학회논문지
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• 제10권12호
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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.