Contour control of a robot arm is an act of the end-effector tip being moved along a reference Cartesian path, with an assigned velocity. When torque saturation occurs, and lasts for some time, contour deteriorations result. In addition, system delay dynamics also causes contour deteriorations. In this paper, an offline trajectory generation algorithm is described, which achieves both optimum a...

This paper reviews the development of fuzzy systems and the problem of time delay control in nonlinear systems. Based on this review, a fuzzy Lyapunov method defined in fuzzy blending quadratic Lyapunov functions is proposed from which to derive stability conditions. In the controller procedure, a parallel distributed compensation (PDC) scheme is utilized to construct a global fuzzy logic contr...

−− This paper proposes a stable control structure for bilateral teleoperation of mobile robots. The proposed control structure includes a time-delay compensation placed on both the local and remote sites of the teleoperation system. Teleoperation experiments through a simulated and real (using Internet) communication channel are presented to illustrate the performance and stability of the propo...

In this paper, we present WWTP(Wireless Waiting-Time Priority) to provide relative delay differentiation in a wireless network where packets are classified into one of the ordered classes according to their relative delay requirements. WWTP ensures that a packet of higher class to enjoy better QoS(Quality of Service) than that of lower class unless it suffers from wireless channel errors. Packe...

We present a new stabilization approach for nonlinear plants with a long input delay. The stabilization problem is complicated by the influence of an uncertain biased sinusoidal disturbance. The problem of control design is solved with using measurable state variables. The adaptive scheme allows to identify the frequency and other parameters of the external disturbance that are used in a reject...

In active heave compensation, in order to realize the smooth control of compensation platform, it is necessary use ship motion measurement system accurately obtain displacement signal, invert and then expansion contraction electric cylinder so that platform remains horizontal. The generally adopts second integral acceleration sensor signal. During acquisition process quadratic integration accel...

Abstract In order to evaluate the attitude accuracy of TT&C’s SINS under dynamic condition, a new method using theodolite’s observation data fixed star SINS’s based on time-delay compensation is proposed. The detailed design given, and influence time delay analyzed real experiments. analysis experimental results shows that can improve computation accuracy, it valuable for engineering applic...

Despite decades of research, the mechanism by which general anesthetics produce loss of consciousness remains mysterious. A clue may be provided by the evidence that synchronous firing of cortical neurons underlies higher forms of neural processing. In order for these synchrony codes to be precise, transmission time must be independent of path length over all the connected sites between any two...

A high-speed triangular-modulated spread-spectrum clock generator using a fractional phase-locked loop is presented. The fractional division is implemented by a nested fractional topology, which is constructed from a dual-modulus divide-by-(N–1/16)/N divider to divide the VCO outputs as a first division period and a fractional control circuit to establish a second division period to cause the o...

A voltage-controlled oscillator (VCO) tolerant to process variations at lower supply voltage was proposed. The circuit consists of an on-chip threshold-voltage-monitoring circuit, a current-source circuit, a bodybiasing control circuit, and the delay cells of the VCO. Because variations in low-voltage VCO frequency are mainly determined by that of the current in delay cells, a current-compensat...