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As a new generation of robot, lightweight flexible manipulator presents various applications in the field of advanced medical, modern industry, space and defense application, etc. Nowadays, these applications need control of flexible-link manipulator (FLM) from a distance, so the use of the network is essential for receiving the sensor signal and transmitting actuator signal. In this work, a new concept...
In this paper, we consider state estimation in Networked Control Systems where both control inputs and measurements are transmitted via networks which are lossy and introduce random transmission delays. In contrast to the common notion of TCP-like communication, where successful transmissions are acknowledged instantaneously and without losses, we focus on the case where the acknowledgment packets...
This paper investigates the problem of stabilization of discrete-time systems with multiple actuator delays. The delays in the system are time-varying or even unknown. By developing the methodology of truncated pseudo predictor feedback (TPPF), state feedback control laws which use only the current states of the system are constructed to solve the problem. The modified TPPF controller is memoryless...
The long time-delay will result in the performance degradation of the networked control system. In this paper, a time-delay compensation method based on time stamp and fast implicit generalized predictive control is proposed. Because the differential action is introduced, this fast implicit generalized predictive control algorithm reduces the computation time and improves the performance of the control...
In this work, we address the problem of reducing the vibrations in the case of a thin flexible beam, with an Euler-Bernoulli configuration thanks to a new type of feedback controller based on a delayed proportional action. The flexible structure is equipped with two piezoelectric patches: one of them works as a sensor and the other as an actuator. Each one of them is bonded on one side of the beam...
In industrial automation, EtherCAT is a real-time communication protocol widely employed in the local computer networks for fast and predictable data communication between system processes. End-to-end delay is a key performance indicator to industrial applications as it reflects the real-time capability of the system. This paper explores end-to-end delays of EtherCAT-based control systems under different...
This paper deal with the problem of H∞ robust fault estimation for discrete time nonlinear system with a sector bounded nonlinear additive terms and multiple bounded state delay using the Takagi-Sugeno (T-S) fuzzy model. A fuzzy-fault estimation observer (FFEO) design is proposed to achieve fault estimation of T-S state delay models using fuzzy Lyapunov functions (FLF) with actuator and sensor faults...
This paper studies the delayed output feedback (DOF) of spacecraft three-axis magnetic attitude control system with actuator delays. By noticing that the linearized system of the magnetic attitude control system is a linear periodic one, the DOF controller is derived for general linear time-varying systems with actuator delays. Compared with other state controllers, the DOF controller only uses the...
In this paper, it addresses a sort of predictive control with the delay compensation for a kind of nonlinear networked control systems, which have packet dropouts and delays in both sensor-to-controller channel and controller-to-actuator channel. Firstly, an event trigger is designed at the controller side to save the limited resources. Only when the control signals satisfy the event-triggered condition,...
This paper is concerned with the stabilization and l2 gain control problems for a class of networked control systems with actuator saturation. By using the switched system model, the regional stabilization condition is firstly obtained. Then, the corresponding optimization problem is given to maximize the estimate of the domain of attraction. Under zero initial condition, the state feedback controller...
Industrial IoT networks are typically used for monitoring systems and supporting control loops, as well as for movement detection systems, process control and factory automation. To this end, data generated by monitoring IoT devices are collected, elaborated and sent to controllers and actuators. The routing of data from IoT sensors to actuators is an integral part of any large-scale industrial network...
This paper investigates the problem of network-based fault-tolerant controller design for networked control systems (NCSs) in the presence of random delays and data packet dropouts. A novel actuator fault model which is more general and practical than the conventional actuator fault models is developed. Considering this new fault model, the NCSs are firstly modeled as a Markovian jump system (MJS)...
The paper analyses a speed servo-drive with integral low-pass filters applied in the disturbance observer (DO) and in a stabilizing loop with a P-controller. The dominant loop dynamics represented by an inertial mass is approximated by a first-order model. The torque generator dynamics, together with the processing and communication delays are approximated by a dead-time. Two compared approaches focus...
In this paper, an improved distributed model predictive control (MPC) algorithm subject to actuator delay of vehicles in cooperative adaptive cruise control (CACC) system is proposed. Firstly the traditional model predictive control approach is analyzed, which solves the incremental control input by transforming the MPC problem with constraints into a standard quadratic programming (QP) problem and...
Wireless technologies have attracted the attention of the industrial sector, due to their multiple advantages such as ease of installation, flexibility and mobility. However, the application of wireless in industry is most limited to non-critical sensing applications, making the communication of critical instruments and control systems almost exclusively with wired media. Despite this, wireless technologies...
This paper studies the problem of fault estimation (FE) and fault tolerant control (FTC) for a class of Takagi-Sugeno (T-S) fuzzy system with interval time-varying delay. We design an adaptive observer-based controller to obtain the estimation of fault, and while guaranteeing the filtering error system to be asymptotically stable, then, based on the information of online fault estimation, a dynamic...
This paper considers the optimal linear quadratic control problem for network control systems(NCSs) with packet dropout and input delay. The optimal output feedback controller is derived for the first time which minimized the cost function. The separation principle, which often fails when the systems is with multiplicative noise, is proved to be established.
This paper studies boundary control for function projective synchronization of a complex sptio-temporal network with time-varying delays and nonlinear terms satisfying the Lipschitz condition. A boundary controller based on distributed measures is studied for function projective synchronization. Using Lyapunov's direct method, the problem of existence of the controller is formulated as the feasibility...
Although paramount contributions have been made to networked control systems (NCS) theory concerning both stability analysis and controller design, results regarding general purpose dynamic controllers are still scarce. Indeed, controller dynamics induce complex closed-loop behavior, making the adaption of previous techniques troublesome. This paper introduces sufficient conditions which assure stability...
In this paper an integrated feed-forward lateral dynamics controller, which considers the actuator dynamics and input delays, is presented. The proposed approach uses an optimization based model inversion of a nonlinear two-track model with magic formula tire model to describe the vehicle dynamics. The model is extended by the actuator models containing delays, which are identified with measurement...
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