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Analytical controller design strategy for remotely operated systems with long time delays

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2 Author(s)
Ya-Dung Pan ; Dept. of Electr. & Comput. Eng., Arizona Univ., Tucson, AZ, USA ; Cellier, F.E.

This paper presents a new analytical controller design strategy for remotely operated systems, emphasizing on the stability of closed-loop control systems involving long time delays. A model-predictive control loop is constructed and implemented inside a digital controller to provide predictive state information, and an efficient model reduction method is applied to yield a reduced-order digital controller. This reduced-order digital controller is a model-reference adaptive controller that can control closed-loop systems with long time delays by following a specified performance. The Stanford arm is chosen as a simulation example

Published in:

Computer-Aided Control System Design, 1994. Proceedings., IEEE/IFAC Joint Symposium on

Date of Conference:

7-9 Mar 1994