0
RESEARCH PAPERS

A Time Delay Controller for Systems With Unknown Dynamics

[+] Author and Article Information
Kamal Youcef-Toumi, Osamu Ito

Department of Mechanical Engineering, Laboratory for Manufacturing and Productivity, Massachusetts Institute of Technology, Cambridge, MA 02139

J. Dyn. Sys., Meas., Control 112(1), 133-142 (Mar 01, 1990) (10 pages) doi:10.1115/1.2894130 History: Received July 01, 1987; Revised July 01, 1988; Online March 17, 2008

Abstract

This paper focuses on the control of systems with unknown dynamics and deals with the class of systems described by ẋ=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 estimates of their delayed derivatives, the TDC is characterized by a simple estimation technique that evaluates a function representing the effect of 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.

Copyright © 1990 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In