This paper presents a control methodology that provides transparency and stability robustness in bilateral telemanipulation systems that include a significant time delay in the communication channels. The method utilizes an adaptive Smith predictor to compensate for the time delay, and incorporates a previously published loop shaping approach to design a compensator for transparency and stabili...

In this paper, a model-predictive trajectory-tracking control applied to a mobile robot is presented. Linearized tracking-error dynamics is used to predict future system behavior and a control law is derived from a quadratic cost function penalizing the system tracking error and the control effort. Experimental results on a real mobile robot are presented and a comparison of the control obtaine...

The paper extends recent work on a modi"ed Smith predictor strategy, which leads to signi"cant improvements in its regulatory capacities for reference inputs and disturbances. High-order or long dead time stable, integrating and unstable plants are modelled as lower-order plant models with a longer time delay. The controllers are designed so that the delay-free component of the output is tuned ...

Five control systems loosely corresponding to primate saccadic, vergence, pursuit, vestibule-ocular, and head control operate on a simulated two-eyed robot head maneuvered by a robot arm. The goal is to get some qualitative understanding of the interaction of such reflexes under various assumptions. The simulation is meant to be relevant to U. Rochester's robot. Thus it incorporates kinematics ...

A practical active disturbance rejection control (ADRC) solution is proposed for the furnace temperature system. Employing a linear reduced-order model with optimized parameters, the practical ADRC is simple to use, easy to tune and energy-efficient in dealing with the uncertainties and disturbances in plant dynamics. Through the order reduction in both the plant model and the state observer, w...

56 Abstract— A new approach of control design of internal model controller is proposed in this paper. The proposed design method focuses on modifying the old general structure of IMC and develops a new model structure while saving the same general concept of using the invertible version of the system in the controller design. The new approach combines the IMC structure and the traditional struc...

Given that a time-delay system is stable for some delay h0 > 0, a procedure is given to find the stability interval [h1, h ∗ 2] such that h0 ∈ [h1, h2] and for all h satisfying h1 < h < h ∗ 2 the system is stable. Further, the system is shown to be unstable if h = h1 or h = h ∗ 2. It is then shown how this can be applied to test the robust stability (with respect to delay values) of a Smith-Pre...

This paper presents a new methodology to design multivariable Smith predictor for n×n processes with multiple time delays based on the centralized inverted decoupling structure. The controller elements are calculated in order to achieve good reference tracking and decoupling response. Independently of the system size, very simple general expressions for the controller elements are obtained. The...

PID controllers are indisputably the most common controller type encountered in process control applications. They are used for regulating processes with diverse dynamics in industrial applications. Especially, processes with long dead times should require special attention as they are difficult to handle with conventional PID controllers. A lof of different dead time compensating control metho...

This paper presents a feedback control algorithm for ATM congestion control in which source rates are adjusted according to VC queue lengths at intermediate nodes along the path. The goal is to " ll in" the residual bandwidth, without exceeding a speci ed queue threshold. In order to obtain this, we propose a simple and classical proportional controller, plus a Smith Predictor to overcome insta...