Proceedings ArticleDOI
A Time Delay Controller for Systems with Unknown Dynamics
Kamal Youcef-Toumi,Osamu Ito +1 more
- Iss: 25, pp 904-913
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TLDR
In this paper, a new control method, Time Delay Control (TDC), is proposed for systems with unknown dynamics and unexpected disturbances, which is characterized by a simple estimation technique of the effect of the uncertainties.Abstract:
This paper focuses on the control of systems with unknown dynamics and deals with the class of systems described by ?=f(x,t)+h(x,t)+B(x,t)u+d(t) where h(x,t) and d(t) are unknown dynamics and unexpected disturbances, respectively. A new control method, Time Delay Control (TDC), is proposed for such systems. Under the assumption of accessibility to all the state variables and their derivatives, the TDC is characterized by a simple estimation technique of the effect of the uncertainties. This is accomplished using time delay. The control system's structure, stability and design issues are discussed for linear time-invariant and single-input- single-output systems. Finally, the control performance was evaluated through both simulations and experiments. The theoretical and experimental results indicate that this control method shows excellent robustness properties to unknown dynamics and disturbances.read more
Citations
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Journal ArticleDOI
Control of Uncertain LTI Systems Based on an Uncertainty and Disturbance Estimator
Qing-Chang Zhong,David Rees +1 more
TL;DR: In this article, the authors proposed a robust control strategy for uncertain LTI systems based on an uncertainty and disturbance estimator (UDE), which brings similar performance as the time-delay control (TDC).
Journal ArticleDOI
Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints
Layale Saab,Oscar E. Ramos,François Keith,Nicolas Mansard,Philippe Souères,Jean-Yves Fourquet +5 more
TL;DR: The task-function approach is extended to handle the full dynamics of the robot multibody along with any constraint written as equality or inequality of the state and control variables to keep a low computation cost.
Journal ArticleDOI
Free-flying robots in space: an overview of dynamics modeling, planning and control
TL;DR: basic concepts of various algorithms in controlling robotic manipulators, basic issues of kinematics and dynamics modeling of such systems, trajectory planning and control strategies, cooperation of multiple arm space free-flying robots, and experimental studies and technological aspects ofsuch systems with their specific limitations are discussed.
Journal ArticleDOI
Design of UDE-based controllers from their two-degree-of-freedom nature
TL;DR: In this article, the two-degree-of-freedom nature of UDE-based controllers is revealed, and the error dynamics of the system is determined by two filters, of which one determines the set-point tracking response and robustness, whereas the other determines the error feedback gain and the filter introduced to estimate the uncertainty and disturbances.
Journal ArticleDOI
Robust control of uncertain nonlinear systems with state delays based on an uncertainty and disturbance estimator
TL;DR: In this article, one linear and one nonlinear robust control strategies are proposed for uncertain nonlinear continuous-time systems with disturbances and state delays based on the uncertainty and disturbance estimator (UDE) introduced in 2004.
References
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Analysis and Design of a Direct-Drive Arm With a Five-Bar-Link Parallel Drive Mechanism
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