Journal ArticleDOI
An observer design for time-delay control and its application to DC servo motor
Pyung Hun Chang,Jeong W. Lee +1 more
TLDR
In this paper, the estimation problem of states and their derivatives for the time delay control (TDC), a robust control technique for nonlinear systems, is addressed, and an observer design method is presented.About:
This article is published in Control Engineering Practice.The article was published on 1994-04-01. It has received 34 citations till now. The article focuses on the topics: Observer (quantum physics) & State observer.read more
Citations
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Journal ArticleDOI
Robust Time-Delay Control for the DC–DC Boost Converter
TL;DR: A robust control with time-delay concept is introduced for regulating a boost converter capacitor output voltage to keep the output voltage constant under input voltage variations with fast response, and little overshoot and ripples.
Journal ArticleDOI
A simple and robust digital current control technique of a PM synchronous motor using time delay control approach
Kyeong-Hwa Kim,Myung-Joong Youn +1 more
TL;DR: In this article, a simple and robust digital current control technique of a permanent magnet (PM) synchronous motor using a time delay control approach is presented, where the disturbances caused by the parameter variations are estimated by using a simple feedforward control.
Journal ArticleDOI
A model reference observer for time-delay control and its application to robot trajectory control
Pyung Hun Chang,Jeong W. Lee +1 more
TL;DR: An observer design method is presented and experiments showed that the controller/observer performs quite robustly under inertia variations and disturbances and is much less sensitive to sensor noise than the controller using numerical differentiations.
Journal ArticleDOI
Force-Mode Control of Rotary Series Elastic Actuators in a Lower Extremity Exoskeleton Using Model-Inverse Time Delay Control
Suin Kim,Joonbum Bae +1 more
TL;DR: In this paper, a model-inverse time delay control was proposed by introducing a virtual reference predicted by the inverse of model dynamics in TDC, which significantly improved performance of the force control, and was verified by demonstrating zero impedance control with pHRI, free oscillation of a pendulum, and force control in the exoskeleton.
Journal ArticleDOI
On improving time-delay control under certain hard nonlinearities
Pyung Hun Chang,Suk Ho Park +1 more
TL;DR: In this article, the authors have observed that in the presence of hard nonlinearity such as saturation or static friction, TDC reveals some problems commonly found in other methods like PID control or disturbance observer.
References
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Journal ArticleDOI
Variable structure systems with sliding modes
TL;DR: Design and analysis forVariable structure systems are surveyed in this paper and it is shown that advantageous properties result from changing structures according to this switching logic.
Journal ArticleDOI
Tracking control of non-linear systems using sliding surfaces with application to robot manipulators
TL;DR: In this paper, the authors present a methodology of feedback control to achieve accurate tracking for a class of nonlinear time-varying systems in the presence of disturbances and parameter variations.
Journal ArticleDOI
Observers for multivariable systems
TL;DR: In this article, it was shown that the design of an observer for a system with M outputs can be reduced to the design for m separate observers for single-output subsystems.
Journal ArticleDOI
Adaptive control of mechanical manipulators
TL;DR: In this paper, an accurate dynamic model of a mechanical manipulator is used in a nonlinear, model-based scheme to control the manipulator, which yields a controllable manipulator.
Journal ArticleDOI
A Time Delay Controller for Systems With Unknown Dynamics
Kamal Youcef-Toumi,Osamu Ito +1 more
TL;DR: In this paper, a new control method, Time Delay Control (TDC), is proposed for linear time-invariant and single-input-single-output (SISO) systems under the assumption of accessibility to all the state variables and estimates of their delayed derivatives.
Related Papers (5)
Robot manipulator control using decentralized linear time-invariant time-delayed joint controllers
T.C. Hsia,L.S. Gao +1 more