• 대한전기학회논문지:시스템및제어부문D
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• 제53권10호
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• pp.678-689
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• 2004

The major concern of networked control system is network uncertainties such as time delay and data loss. Because these uncertainties may degrade the performance of networked control system and destabilize the entire system. Therefore, the performance and the stability variation of networked control system due to network uncertainties must be considered first in designing networked control system. In particular, the stability analysis of networked control system is most important issue since time delay and data loss can make the overall systems unstable. In this paper, we present a new stability analysis method of networked control system with time delay and data loss, which is impossible in previous works. The proposed method can determine maximum time delay and allowable transmission rate that preserve stability performance of networked control system. The results of the simulation validate effectiveness of our stability analysis method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1455-1458
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• 1996

In this paper trajectory tracking control problems are described for a robot manipulator by using pneumatic actuator. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with input time-delay by the step response. Then, an optimal servo controller is designed by taking account of such a time-delay. The effectiveness of the proposed control method is illustrated through some simulations and experiments for the robot manipulator.

• International Journal of Control, Automation, and Systems
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• 제2권2호
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• pp.182-188
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• 2004

This paper presents a design method of delay-dependent control for T-S fuzzy systems with time delays. Based on parallel distributed compensation (PDC) and a descriptor model transformation of the system, a delay-dependent control is utilized. An appropriate Lyapunov-Krasovskii functional is chosen for delay-dependent stability analysis. A sufficient condition for delay-dependent control is represented in terms of linear matrix inequalities (LMIs).

• 한국지능시스템학회논문지
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• 제10권5호
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• pp.423-431
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• 2000

In this paper, the effect of computing time-delay in the real-time digital fuzzy control systems is investigated and the design methodology of a real-time digital fuzzy controller(DFC) to overcome the problems caused by it is presented. We propose the fuzzy feedback controller whose output is delayed with unit sampling period. The analysis and the design problem considering computing time-delay is very easy because the proposed controller is syncronized with the sampling time. The stabilization problem of the digital fuzzy control system is solved by the linear matrix inequality(LMI) theory. Convex optimization techniques are utilized to find the stable feedback gains and a common positive definite matrix P for the designed fuzzy control system Furthermore, we develop a real-time fuzzy control system for backing up a computer-simulated truck-trailer with the consideration of the computing time-delay. By using the proposed method, we design a DFC which guarantees the stability of the real time digital fuzzy control system in the presence of computing time-delay.

• 대한기계학회논문집A
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• 제26권8호
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• pp.1534-1544
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• 2002

The TDCSA(Time Delay Control with Switching Action) method, which consists of Time Delay Control(TDC) and a switching action of sliding mode control(SMC), has been proposed as a promising technique in the robust control area, where the plant has unknown dynamics with parameter variations and substantial disturbances are preset. When TDCSA is applied to the plant with saturation nonlinearity, however, the so-called windup phenomena are observed to arise, causing excessive overshoot and instability. The integral element of TDCSA and the saturation element of a plant cause the windup phenomena. There are two integral effects in TDCSA. One is the integral effect occurred by time delay estimation of TDC. Other is the integral term of an integral sliding surface. In order to solve this problem, we have proposed an anti-windup scheme method for TDCSA. The stability of the overall system has been proved for a class of nonlinear system. Experiment results show that the proposed method overcomes the windup problem of the TDCSA.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.231-231
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• 2000

It is proposed that a novel method which can compensate the time delay occurs in overall system, when voltage and current is measured, owing to LPF, hysteresis control inverter and microprocessor program computation time. The Proposed scheme estimates the time delay using the difference between Q-axis stator current command and time delayed Q-axis stator current in synchronous reference frame, and compensates the time delay of voltage and current using angular displacement of DQ transformation. The proposed scheme compensates accurately the time delay occurs in overall system. Therefore performance of vector control system is improved highly and it is verified by simulation and experiment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.529-533
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• 1990

This paper treats the computational time delay issue in designing digital control systems. The computational time delay margin, within which the closed-loop stability is guaranteed, is analyzed using Rouche theorem. A PID control algorithm is proposed for compensating the computational time delay. Finally, the analyzed and the exact computational time delay margins are compared, and the performance of the proposed PID controller is shown through an illustrative example.

• 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.

• 전기의세계
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• 제28권3호
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• pp.37-50
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• 1979

The time optimal control of dynamic systems with time delay is studied with emphasis on the practical realization of controllers. An extensive survey on various methods of control is included and a result for a time optimal regulator with signle delay in control is presented and simulated on a digital computer.

• 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.