The effects of computational delays on the model-based control of manipulators

Anderson, J.N.; Reed, B.L.

doi:10.1109/secon.1990.117780

Cited by 2 publications

(4 citation statements)

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“…As one can see, the controller can perform the task well. The wheel slip is relatively small and is in the linear region of the slip-friction function, which makes the equation (6) valid. Notice that no computational delay is considered in this simulation.…”

Section: Modeling the Vehicle Braking Longitudinal Dynamicsmentioning

confidence: 99%

“…For nonlinear systems, the standard frequency-domain analysis methods cannot be applied. As suggested in [6], simulation is an effective approach to evaluate the effect of computational delay. In this subsection, the effect of CD will be roughly analyzed, while simulation results will be presented in the following subsection.…”

Section: Analysis Of the Effect Of Computational Delaymentioning

confidence: 99%

“…Nilsson, et al [5] studied the effect of a randomly varying computational delay on a linear control system and proposed a LQG optimal control based on a stochastic description of the computational delay. Anderson and Reed [6] presented the results of a simulation study of the effect of computational delay modeled as certain percentage of sampling period, on a robot manipulator controller. It was shown that computational delay stability boundaries directly depend on the sampling frequency for both the step response and trajectory tracking cases.…”

Section: Introductionmentioning

confidence: 99%

“…A study of the effect of computational delay on the performance of a hybrid control system has not been found in the literature. As pointed out in [1,3,4,6], it is difficult to generally analyze the effects of computational delay for different control systems, and insight requires case-bycase evaluation.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Effect of Computational Delay on the Performance of a Hybrid Adaptive Cruise Control System

Wang

Longoria

2006

SAE Technical Paper Series

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This paper investigates the effect of real-time control system computational delay on the performance of a hybrid adaptive cruise control (ACC) system during braking/coasting scenarios. A hierarchical hybrid ACC system with a finite state machine (FSM) at the highrank and a nonlinear sliding mode controller (SMC) at the low-rank is designed based on a vehicle dynamics model with a brake-by-wire platform. From simulations, parametric studies are used to evaluate the effect of the bounded random computational delay on the system performance in terms of tracking errors and control effort. The effect of the computational delay location within the control system hierarchy is also evaluated. The system performance generally becomes worse as the upper boundary of the computational delay increases while the effect of the computational delay located at the high-rank controller is more pronounced. In this paper, these results are also contrasted against those found by applying a computational delay compensation technique in the high-rank controller.

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Section: Modeling the Vehicle Braking Longitudinal Dynamicsmentioning

confidence: 99%

Section: Analysis Of the Effect Of Computational Delaymentioning

confidence: 99%