ROBUST TIME-DELAY CONTROL OF MULTIMODE SYSTEMS Conference Paper

abstract

• This paper presents a procedure for the design of open loop controllers for flexible structures using multiple step inputs delayed in time. The controller attenuates the residual vibration by cancelling the complex poles of the system. Robustness is achieved by locating additional zeros at the cancelled poles of the system. The paper begins by addressing the control of a single mode and examines the effect of user selected time-delays on robustness and the reference input. Next a procedure for the design of robust time-delay controllers for multiple modes with user selected time-delays is considered. This is followed by a design of a minimum time-delay controller such that the step input magnitudes are constrained to values between 0 and 1. A single link flexible arm robot is used to illustrate the effectiveness of the proposed controller.

name of conference

• Proceedings of 1994 American Control Conference - ACC '94

authors

• Vadali, Srinivas

published proceedings

• PROCEEDINGS OF THE 1994 AMERICAN CONTROL CONFERENCE, VOLS 1-3

author list (cited authors)

• SINGH, T., & VADALI, S. R.

citation count

• 5

complete list of authors

• SINGH, T||VADALI, SR

publication date

• January 1994

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• Proceedings of the ... American Control Conference. American Control Conference  Journal

Digital Object Identifier (DOI)

• 10.1109/acc.1994.751826

International Standard Book Number (ISBN) 10

• 0-7803-1783-1

start page

• 681

end page

• 685

volume

• 1

URL

• http%3A%2F%2Fdx.doi.org%2F10.1109%2Facc.1994.751826