Analytical Controller Design Strategy for Remotely Operated Systems with Long Time Delays

YaDung Pan
Associate Professor
Department of Mechanical Engineering
LungHwa University of Science and Technology
300, Wan Shou Road, Section 1
Kueishan, Taoyuan County 333
Taiwan
Email: YDPan@Mail.LHU.Edu.TW
François E. Cellier
Institute of Computational Science
ETH Zürich
CH-8092 Zürich
Switzerland
Email: FCellier@Inf.ETHZ.CH

Keywords

Time Delay
Teleoperation
Model Reduction
Smith Predictor
Stanford Arm

Abstract

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.

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