On Self-Tuning Control of Processes with Time Varying Dead Time

Pieper, J.K.; Surgenor, Brian; Liu, J.Z.

doi:10.23919/acc.1991.4791780

1991 American Control Conference 1991

DOI: 10.23919/acc.1991.4791780

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On Self-Tuning Control of Processes with Time Varying Dead Time

J.K. Pieper

Brian Surgenor

J.Z. Liu

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Cited by 2 publications

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Application of learning to high-speed robotic manipulators

Kireçci

Gilmartin

1998

Proceedings of the Institution of Mechanical Engineers, Part I:

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When a desired signal is applied to a servo system it responds in a characteristic fashion and follows the required trajectory with an error. The physical features of the actuators and the gain setting of the controller are the main parameters that determine the response of the system. Controllers with fixed gain values are effective for many conventional processes using slow-speed manipulators. However, there are several cases where the precise tracing of a fast trajectory under different payloads requires more advanced control techniques. When the motion is cyclical, learning control is one advanced technique which is appropriate to use. Depending solely on measurements of data from the preceding cycle, its implementation in real time is both fast and efficient. In practice, however, it has been observed that learning can induce high-frequency ripples on the tuned command curve which with increasing iterations result eventually in the saturation of the system's actuators. In this study, the use of on-line learning control techniques is discussed and a new approach using digital filters is implemented to prevent actuator saturation from occurring when learning is applied. A planar robotic manipulator has been designed and built to investigate the practical problems of learning control, particularly when the system runs at high speeds.

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Application of learning to high-speed robotic manipulators

Kireçci

Gilmartin

1998

Proceedings of the Institution of Mechanical Engineers, Part I:

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Presentation of a New Online Method, for Time Variant and Unknown Input Time Delay Estimation, in Continuous SISO-LTI Systems

Nejad

Farshad

Havangi

2020

SWCC

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Aims: In this paper, a novel estimator is presented, for online time delay estimation, in single input-single output LTI systems, with time variant and uncertain delay in control input. Background: The main studies made on systems with time-varying delay are divided into three general categories: (1) Identification and Estimation of the Delay. (2) Criteria Presented for Stability and Robust Stability. (3) Control Methods Presented with Goals like Tracking. Objective: It is obvious that Laplace transfer function of a delayed system includes a time delay factor (exponential and non-rational). In this study, it is assumed that the only uncertain and time varying parameter in the system is the system’s time delay. The objective of this paper is to online estimate of this time delay. Methods: For designing the proposed estimator, first, a Pade approximation is used for exponential factor of time delay to rationalize the system transfer function. Therefore, the new transfer function, which is an approximation of the main transfer function of the system, will include a time delay parameter (time-variant). After writing a state space realization of the mentioned transfer function and considering time delay parameter as an extra state variable, a system of nonlinear state equations will be generated. Eventually, using a kalman filter (linear and extended for linearized and nonlinear state equations), the systems states, such as system time delay, are estimated. Results: Simulations were made on a sample system with input time delay, for different types of time delay signal.Conclusion: Finally, simulations results show rather desirable performance of the proposed estimator in dealing with time varying and uncertain delays.

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On Self-Tuning Control of Processes with Time Varying Dead Time

Cited by 2 publications

References 8 publications

Application of learning to high-speed robotic manipulators

Application of learning to high-speed robotic manipulators

Presentation of a New Online Method, for Time Variant and Unknown Input Time Delay Estimation, in Continuous SISO-LTI Systems

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