Robust networ ccontrol of an arm manipulator to time delays
Abstract
Feedback control systems with network as information channels between sensors and between controllers and actuators, are called Network Control Systems (NCS). Network in the loop makes the analysis and design of a proper controller quite different from the traditional ones. Controllers for MIMO plants with wireless communication channels have different type of problems as to compete for the network resources, losses of data packages and presence of communication delays. This work deals with the problem of delays present in the feedback system. Various methodologies have been proposed to deal with the problem of network induced delays which depends on the nature of the delay as: constant, continuous discrete and random delays, and in MIMO systems independent channel delays This paper deals with design of a robust H∞ controller for a MIMO system with time delays limited to an interval, such as obtain a close loop system satisfy robust stability and robust performance specifications in ample ranges of time delays. The method is applied to a three degree of freedom arm manipulator.
Downloads
References
Cavusoglu C.M. (2001). Bilateral Controller Design for Telemanipulation in Soft Enviroment, Procc. IEEE Int. Conf. on Robotics and Aut. (ICRA 2001), Seoul, Korea.
Fu M., Li H., and Niculescu H. (1993). Robust Stability and Stabilization of Time-Delay Systems via Integral Quadratic Constraint Approach. Dpt.Elec. & Comp. Eng., University of Newcastle.
Gonzalez L., and Aguilar L. H∞ Robust Control Design for an Arm Manipulator, Journ. Of Intellig. And Robotic Systems, Vol.27, 2001.
Gonzalez L., and Rodriguez J.L. (2003). Robust Regulador Design for an Arm Manipulator, IECON-2003. Roanoke, Virg. USA.
José Noguera P., Olmer García B., Carlos Robles A. (2017). Modelado y Control de un Robot Manipulador utilizando las técnicas de control estándar y H infinito, Revista Espacios, Vol.38.
Jackson, R.F. (1984). Remote handling UK overview. In Remote Handling in Nuclear Facilities. OECD Nuclear Energy Agency.
Larcombe, M.H.E. and Halsall J.R. (1984). Robotics in Nuclear Engineering. Graham and Trotman Ltd.
Leung G.M.L., Bruce A. Francis, and J. Apkarin (1997). Bilateral Controller for Teleoperators with Time Delay via synthesis, Dpt. Elect., and Comp. Eng., University of Toronto.
Verriest E.I., and Ivanov A.F. (1991). Robust Stabilization of System with Delayed Feedback. Proc. 2nd Intern. Symposium on Implicit and Robust Systems. Warsawa Poland.
Zhou, K., Doyle J. (1996). Essentials of Robust Control, Prentice Hall.
