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Decentralized control of bilateral teleoperation systems with time delays is considered within the H2 optimization framework. We demonstrate that the problem is quadratically invariant and can be split into two independent model matching optimizations with partial multiplicative delay. The recent loop shifting techniques for delayed systems control are used then to find a complete analytical solution...
In this study, online identification of state delays is discussed. First, a novel adaptive time delay identification technique is proposed for general classes of autonomous nonlinear systems subject to state delays. As an extension, this technique is modified to design a tracking controller for general classes of nonlinear systems subject to state delays. The main novelty of this controller is that...
This paper presents a multivariable dead-time compensating structure for non-square systems with multiple time delays. The proposed strategy compensates the minimal output dead time and it can be used to control stable, integrating, and unstable processes. Additionally, it is shown that simple tuning rules can be used to balance a tradeoff between performance and robustness. Two simulation case studies...
In this paper, we address the problem of sampled-data control design for continuous-time linear parameter varying (LPV) systems. The state-feedback control design method we develop in this paper relies on the information from the sampled states. Due to the combination of the system continuous-time dynamics and the controller discrete-time dynamics connected through A/D and D/A converter devices, the...
The effects of time delay in the continuous part of a pulse-modulated model of non-basal endocrine feedback regulation are investigated. Conditions for the existence and local orbital stability of periodical solutions with m impulses in the least period (m-cycles) are derived. Applied to the case of testosterone regulation in the human male, the model indicates that increasing time delays in the system...
An earlier investigation on leader-follower consensus protocols for double integrators with multiple time delays [1] is revisited in this paper from two completely different and novel perspectives. First, the crucial stability analysis of time delayed system is replaced with a recent technique called the Cluster Treatment of Characteristic Roots (CTCR). CTCR paradigm is pursued after a block-diagonalization...
In this paper we derive sufficient conditions for passivity of neutral type time delay systems (TDS) with time varying parametric uncertainties. The delays in states and state derivatives are assumed to be time varying. Delay dependent sufficient conditions for robust passivity, are derived in terms of Linear Matrix Inequalities (LMIs). Feedback control law is formulated for robust passification of...
In the case of the Ubiquitous Robot, the robot elements such as sensor, controller and actuator are distributed in the environment. This system aims at supporting robots and human beings by enabling their cooperation. In order to get high customizability, modularized robot elements are desired. For this reason, it is preferred that the functionality of each element is small. When one promotes the...
This paper investigates control design for time-delay compensation for the time-varying delayed systems, especially, the network transmission dynamics. We propose an idea of virtual disturbance, named nonlinear extended network disturbance (NEND), such that the delayed behavior of the considered model is treated as the effect of injecting NEND into the system. The larger the magnitude of NEND means...
This paper presents the Intrinsic Mode Function Time Delay Method (IMFTDM) which is based on Hilbert Huang Transform (HHT) and its application in beamforming. The IMFTDM can delay the broadband Intrinsic Mode Function (IMF) by arbitrary time accurately. And in this work, the IMFTDM is performed using the simulated and real data in beamforming to test its performance. The results show that it can improve...
This paper studies the wireless positioning method using digital TV (DTV) signals with orthogonal frequency division multiplex (OFDM) modulation. A novel pseudo range estimation method is proposed, which utilizes the synchronization modules in the data demodulation as the signal acquisition for the coarse time delay estimation and introduces a data-directed delay tracking mechanism for the fine time...
This paper presents an augmented reality framework, implemented on the master console of a modified da Vinci® surgical robot, that enables the operator to design and implement assistive virtual fixtures during teleoperation. Our specific goal is to facilitate teleoperation with large time delays, such as the delay of several seconds that occurs with ground-based control of robotic systems in earth...
In this paper, the Genesio system with distributed time delay feedback is studied. Its linear stability is investigated based on the Routh-Hurwitz criteria. After the local asymptotic stability is analyzed, Hopf bifurcation is demonstrated by choosing the mean time delay as a bifurcation parameter. The direction and the stability criteria of the bifurcating periodic solutions are determined by applying...
This article deals with the radiation of sound from ultrasonic transducers located on a flat surface and bounding a shear flow. The aim of the experiments is to measure time delays between flushed transducers in order to characterize flow velocity. Considering that the sound has an infinitely small wavelength, comparison between numerical (simulated using Matlab) and experimental results shows that...
This paper deals with the problem of delay-dependent robust stochastic stabilization and robust Η∞ control for uncertain markovian jump systems with multiple delays in both state and input. Based on the conditional expectation of the Markov chain's mode-set, an improved method of the delay-dependent robust stochastic stabilization for this markovian jump systems is obtained by introducing a mode-independent...
Global robust exponential stability problems for Cohen-Grossberg neural networks are investigated in this paper. New sufficient conditions are derived to ensure the global robust exponential stability of the equilibrium point by using a new inequality and linear matrix inequality technique. A numerical example is given to show the effectiveness of the theoretical results.
In this paper we propose priority back off algorithm for random access procedure setting different re-access probability to users depending on their different group priority grades, different user priority grades and different number of collisions in TD-LTE trunking system. Its objective is to make these groups or users with high priority have lower collision rate and access time delay than those...
Prior researches of generalized predictive control (GPC) in teleoperation systems have mainly considered short transmitted time delays or single degree of freedom (DOF) manipulators of master and slave. This paper presents a GPC strategy for space teleoperation systems in which the master and slave manipulators are both multi-DOF and the communication network brings long time-varying delays. The nonlinear...
The function of multi-rate support (14 rate ranks from 1Mbps to 54Mbps) in PHYs is prescribed in IEEE 802.11 protocol. To analyze the serious affects to the throughput of whole networks caused by the low- rate access nodes, a precise algorithm is proposed based on the improved Markov model in DCF protocol. The throughput of WLAN is conducted with low-rate access nodes, and the simulation results with...
Due to overlapping frequency bands, IEEE 802.11a WLAN and Ultra Wide-Band systems potentially suffer from mutual interference problems. This paper proposes a method for inserting frequency notches into the IR-UWB power spectrum to ensure compatibility with WLAN systems. In contrast to conventional approaches where complicated waveform equations are used, the proposed method uses a dual-pulse frequency...
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