NDLI: Convex hull manipulation based control performance optimization: Case study of impedance model with feedback delay

Content Provider	IEEE Xplore Digital Library
Author	Grof, P. Galambos, P. Baranyi, P.
Copyright Year	2012
Description	Author affiliation: Computer and Automation Research Institute, Hungarian Academy of Sciences, Budapest, Hungary (Grof, P.; Galambos, P.; Baranyi, P.)
Abstract	Varying delay is still a challenge to handle in the comtrol of systems with feedback delay. This paper attempt to handle varying delay by a novel approach. The control structure has been already proposed, where the system with feedback delay is approximated by a non-delayed model with modified time constants. The controller is designed according to this non-delayed substitute system and the control signal is computed using its observed state vector. Tensor Product (TP) Model Transformation is utilized to make a compact polytopic representation of the observer and controller for various time delays. In this method the actual value of the feedback delay is considered as an input parameter of the TP type controller and observer. In this paper we show that the convex hull of Convex type TP model applied for LMI based controller design has effect on control performance. We introduce a concept how to improve the control performance of the system with feedback delay via convex hull manipulation.
Starting Page	495
Ending Page	499
File Size	490489
Page Count	5
File Format	PDF
ISBN	9781457701962
e-ISBN	9781457701979
DOI	10.1109/SAMI.2012.6209018
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-01-26
Publisher Place	Slovakia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	TP model transformation Tensile stress Computational modeling Delay effects Telemanipulation Observers Stability analysis Time delay Impedance convex hull Feedback systems Delay
Content Type	Text
Resource Type	Article

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