• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.4
• /
• pp.381-388
• /
• 2014

In this paper, the attitude of a quadrotor system is controlled by a time-delayed control method which uses the previous information to cancel out uncertainties in the system. Although the linear controller works for the attitude control, the robust performance against disturbance is relatively poor. Therefore, a time-delayed controller as a robust controller is used. Experimental studies are conducted to validate the performance by the time-delayed control method. The performances of both a linear controller and a time-delayed controller are compared.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.2
• /
• pp.147-153
• /
• 2007

The stability robustness problem of linear discrete-time systems with delayed time-varying perturbations is considered. Compared with continuous time system, little effort has been made for the discrete time system in this area. In the previous results, the bounds were derived for the case of non-delayed perturbations. There are few results for delayed perturbation. Although the results are for the delayed perturbation, they considered only the time-invariant perturbations. In this paper, the sufficient conditions for stability can be expressed as linear matrix inequalities(LMIs). The corresponding stability bounds are determined by LMI(Linear Matrix Inequality)-based algorithms. Numerical examples are given to compare with the previous results and show the effectiveness of the proposed results.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.7
• /
• pp.724-729
• /
• 2014

This paper presents the altitude control of a quadrotor system under the disturbance. The altitude is measured by an ultra sonic sensor attached at the bottom of the quadrotor system and the measured altitude data are used in the time-delayed controller. To test the robustness of the controller, a weight attached to the center of the system is dropped intentionally several times to cause disturbances to the system. Performances of the altitude control by the PID control and time-delayed control method are compared experimentally. Experimental studies are conducted to verify the outperformance of the time-delayed controller for controlling the altitude of the quadrotor system under disturbances.

• The Transactions of the Korean Institute of Electrical Engineers A
• /
• v.48 no.5
• /
• pp.607-614
• /
• 1999

This paper deals with the design problem of the state estimator for servo system. The servo system has input time delay which depends on the computational time of control algorithm. The delayed input is a factor that brings out the state estimation error. So in order to reduce the state estimation error of the system, we propose a state estimator in which the delayed input of the system is considered. For this purpose, discrete time state space model is established accounting for the delayed input and a state estimator is designed based on this model. Kalman filter algorithm is employed in the design of the state estimator. The proposed estimator is used in the speed control of servo system with delayed input. Performance of the proposed state estimator is exemplified via simulations and experiments for servo system. Also, robustness of the proposed estimator to modeling error by variation of the system parameters is also shown in simulations.

• Proceedings of the KIEE Conference
• /
• 1988.07a
• /
• pp.909-912
• /
• 1988

This paper proposed the new control law which is defined by instantaneous output and time delayed output. To analyze the system with time delayed output, the way which transforms output time delayed systems into instantaneous output systems is presented. The output responses were more improved by the new control law then that of the instantaneous output control law. The algorithm for simulation and a numerical example are presented.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.2562-2567
• /
• 2005

This paper suggests a new method discretization of nonlinear system using Taylor series expansion and zero-order hold assumption. This method is applied into the sampled-data representation of a nonlinear system with input time delay. Additionally, the delayed input is time varying and its amplitude is bounded. The maximum time-delayed input is assumed to be two sampling periods. Them mathematical expressions of the discretization method are presented and the ability of the algorithm is tested for some of the examples. And 'hybrid' discretization scheme that result from a combination of the ‘scaling and squaring' technique with the Taylor method are also proposed, especially under condition of very low sampling rates. The computer simulation proves the proposed algorithm discretized the nonlinear system with the variable time-delayed input accurately.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.7
• /
• pp.649-655
• /
• 2007

In this paper, a time-delayed controller for position control of humanoid robot arms is designed and implemented on a field programmable gate array(FPGA) chip. The time-delayed control algorithm is simple to implement, and robust to reject disturbances. The time-delayed control method uses the one sample time-delayed previous information to cancel out uncertainties in the system. Since the sampling time is so fast with the current hardware technology, the time-delayed controller can be implemented. However, inertia values should be correctly estimated to have the better performance. The position tracking tasks of humanoid robot arms are tested to compare performances of several control algorithms including the time-delayed controller.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.1
• /
• pp.58-64
• /
• 2007

In this paper, the stabilization problem of the image stabilization system(ISS) that captures the image of an object on the ground by remote sensing is considered. The ISS should be stable under outer disturbance such as helicopter vibration for tracking line of sight. Although PID controllers are optimized for the system, disturbances cause the instability of the system. To minimize the effect of the disturbance, the time-delayed control method is used to compensate for uncertainties. Simulation studies are performed and experiments are conducted to confirm the simulation results. Performances of PID control and time-delayed control methods are compared.

• Journal of The Korean Society of Grassland and Forage Science
• /
• v.11 no.2
• /
• pp.137-142
• /
• 1991

For the constitution of forage cropping system including the double-cropping of corn, attention has been directed towards the early and short maturing varieties of corn such as Comet 80, Comet 85 and Linda as a component forage crop of forage cropping system. Four corn varieties, Comet 80, Comet 85, Linda and Suwon 19 were planted delayedly by each of 45, 55 and 65 days from the recommended sowing date of suwon 19. Under these condition, growth characteristics and late-sowing adaptability of 4 corn varieties were investigated, and the results are summarized as follows; 1. The variety of suwon 19 did not reach the stage of silking in the occasion of late sowing by 50 days from the optimum sowing time for mono cropping of suwon 19. However early varieties such as Comet 80, Comet 85 and Linda silked under the condition of 65 days-delayed sowing from the recommended sowing time of Suwon 19 for mono-cropping. 2. Early varieties of Comet 80, Comet 85 and Linda were so grown by approximately 92% in plant height, 66% in ear height, 88% in stem diameter and 81% in leaf number respectively compared to Suwon 19 at each of three delayed sowing time that exhibited the dwarfish appearance of canopy. 3. Days from sowing to silking decreased as the sowing time was delayed and the average days from sowing to silking in the sowing treatments of 55 days-delayed of Suwon 19, Comet 80, Comet 85 and Linda were 61, 46, 47 and 51 days, respectively. 4. The size of variations of plant height and ear height influenced by delayed-sowing time was comparatively larger in the varieties of Suwon 19 and Linda than in those of Comet 80 and Comet 85. 5. As sowing time was delayed from the optimum sowing time of Suwon 19 for mono-cropping, ear content decreased from 0% of Suwon 19 at 55 day-delayed sowing treatment to 3540% of Comet 80 and Comet 85 at 65 days-delayed sowing treatment.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2001.10a
• /
• pp.204-208
• /
• 2001

Position control of the electro-hydraulic servo indexing system in a flexible forging machine was investigated Flexible forging machine forges an axial type workpiece in the radial direction as well as in the axial direction. The role of the indexing system is to rotate a workpiece fast and accurately to a desired position for continuous shaping. Since the inertia of a workpiece changes during each forging step, a control technique which is robust to inertia variation should be adopted to the position control of the workpiece. In this study, time delayed control technique is applied to the servo system. Time delayed control method does not depend on estimation of specific parameters. Rather, it depends on the direct estimation of a function representing the effect of uncertainties. Direct estimation is accomplished using time delay and the gathered information is used to cancel the unknown dynamics is accomplished using disturbances simultaneously. Experimental result show that the time delayed controller is robust to inertia variation of the load, and satisfactory performance on the sposition accuracy is obtained compared to the contentional feedback control.