The performance of a wave-based teleoperator is heavily dependent on the amount of time delay present in the system. Although wave variables provide a very promising method to establish teleoperation in the presence of any time delay, tracking error in a wave-based teleoperator will be increased by increasing time delay. In this paper, we introduce a new method for reducing time delay effects i...

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 speciied queue threshold. In order to obtain this, we propose a simple and classical proportional controller, plus a Smith Predictor to overcome insta...

A Nonlinear Generalized Minimum Variance control law is derived for systems represented by an input-output state dependent nonlinear subsystem that may be open-loop unstable. The solution is obtained using a model for the multivariable discrete-time process that includes a state-dependent (nonlinear and possibly unstable) model that links the output and any unstructured nonlinear input subsyste...

This paper presents an attractive position-based visual sewoing approach for camera-in-hand robotic systems. The major contribution of this work is in devising an elegant and pragmatic approach for 3 0 visual tracking. The proposed Modijied Smith Predictor (MSP)-DeMenthon-Horaud (DH) visual sewoing system has shown to be reliable and yielded good target tracking performance. It d@er from the ot...

In a flight controller, latency can be defined as the time delay between when the sensor data is collected and the corresponding control command is executed. Latency exists in all real world systems. Although its effects can be negligible under certain operating conditions, the time delay in a system can ultimately create an upper limit on the performance of a controller. The latency problem ha...

Heat exchangers are devices whose primary responsibility is the transfer (exchange) of heat, typically from one fluid to another. However, they are not only used in heating applications, such as space heaters, but are also used in cooling applications, such as refrigerators and air conditioners. Heat exchange processes often contain time-delay. This paper deals with design of universal and robu...

In this paper, we present an Adaptive Posicast Controller that deals with parametric uncertainties in linear systems with delays. It is assumed that the plant has no right half plane zeros and the delay is known. The adaptive controller is based on the Smith Predictor and Finite-Spectrum Assignment with time-varying parameters adjusted online. A novel Lyapunov-Krasovskii functional is used to s...

A Generalized Minimum Variance control law is derived for the control of nonlinear, possibly time-varying multivariable systems. The solution for the control law is original and was obtained in the time-domain using a simple operator representation of the process. The quadratic cost index involves both error and control signal costing terms. The controller obtained is simple to implement and in...

The integration of mobile robotic platforms in human gait analysis offers the potential to develop multiple medical applications and achieve new discoveries. aim this paper is present a first design validation ROS-based platform for analysis. During stage, model identification configuration control law were performed. required lead compensator Filtered Smith Predictor (FSP). procedure, accuracy...