Convex hull manipulation based control performance optimization: Case study of impedance model with feedback delay

Gróf, Patricia and Galambos, Péter and Baranyi, Péter Zoltán (2012) Convex hull manipulation based control performance optimization: Case study of impedance model with feedback delay. In: IEEE 10th Jubilee International Symposium on Applied Machine Intelligence and Informatics, SAMI 2012 - Proceedings, 2012-01-26 - 2012-01-28, Herlany, Szlovákia. 10.1109/SAMI.2012.6209018

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Varying delay is still a challenge to handle in the comtrol of systems with feedback delay. This paper attempt to handle varying delay by a novel approach. The control structure has been already proposed, where the system with feedback delay is approximated by a non-delayed model with modified time constants. The controller is designed according to this non-delayed substitute system and the control signal is computed using its observed state vector. Tensor Product (TP) Model Transformation is utilized to make a compact polytopic representation of the observer and controller for various time delays. In this method the actual value of the feedback delay is considered as an input parameter of the TP type controller and observer. In this paper we show that the convex hull of Convex type TP model applied for LMI based controller design has effect on control performance. We introduce a concept how to improve the control performance of the system with feedback delay via convex hull manipulation. © 2012 IEEE.

Item Type: Conference or Workshop Item (-)
Uncontrolled Keywords: CONTROLLERS, information science, Delay control systems, Computational geometry, Artificial intelligence, Varying delay, Time constants, Tensor product models, State vector, model transformation, Input parameter, Impedance models, feedback delay, Controller designs, Control structure, Control signal, Control performance, TP model transformation, Time delay, Telemanipulation, Feedback systems, Convex hull
Subjects: Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Divisions: 3D Internet-based Control and Communications Laboratory
Depositing User: EPrints Admin
Date Deposited: 16 Jan 2014 10:30
Last Modified: 05 Feb 2014 12:28

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