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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 대한기계학회 Journal of Mechanical Science and Technology Journal of Mechanical Science and Technology Vol.20 No.8
- 발행연도
- 2006.8
- 수록면
- 1,195 - 1,208 (14page)
이용수
초록· 키워드
오류제보하기
This paper aims at presenting robustness analysis under the uncertainties of the time delay and plant parameters in symmetrically coupled dynamic systems connected through network having time delay. The delay-involved closed loop characteristic function is mathematically formulated, incorporated with active synchronization control. And the robust stability of the corresponding system is analyzed by investigating the formation of characteristic equation containing second-order terms of uncertainty variables representing delay and plant dynamics mismatches. For the two individual types of uncertainties, we elucidate details of how to compute the bounds and what they imply physically. To support the validity of the mathematical claims, numerical examples and simulations are presented.
목차
영어 초록
1. Introduction
2. System Description
3. Robustness Analysis for Second-Order Uncertainties
4. Simulation Verification
5. Summary and Concluding Remarks
Acknowledgments
References
참고문헌 (36)
참고문헌 신청
Anderson, R. J. and Spong, M. W., 1989, "Bilateral Control of Teleoperators with Time Delay," IEEE Trans. on Automatic Control, Vol.34, No.5, pp.494~501.
Bellman, R. and Cooke, K. L., 1963, Differential-Difference Equations, Academic Press.
Changhong, W., Lixian, Z. and Qiyong, W., 2004, "Controller Design Based on Model Predictive Control for Real-Time Tracking Synchronization in Closed-Loop Control Via Internet," in Proc. of IEEE Int. Conf. on Control Applications, pp.260~265.
Cheong, J., Niculescu, S.-I., Annaswamy, A. and Srinivasan, M. A., 2005, "Motion Synchronization in Virtual Environments with Shared Haptics and Large Time Delays," in Proc. of Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems, p
Kazerooni, K., Tsay, T. and Hollerbach, K., 1993, "A Controller Design Framework for Telerobotic Systems," IEEE Trans. on Control System Technology, Vol.1, No.1, pp.50~62.
Bellman, R. and Cooke, K. L., 1963, Differential-Difference Equations, Academic Press.
Changhong, W., Lixian, Z. and Qiyong, W., 2004, "Controller Design Based on Model Predictive Control for Real-Time Tracking Synchronization in Closed-Loop Control Via Internet," in Proc. of IEEE Int. Conf. on Control Applications, pp.260~265.
Cheong, J., Niculescu, S.-I., Annaswamy, A. and Srinivasan, M. A., 2005, "Motion Synchronization in Virtual Environments with Shared Haptics and Large Time Delays," in Proc. of Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems, p
Kazerooni, K., Tsay, T. and Hollerbach, K., 1993, "A Controller Design Framework for Telerobotic Systems," IEEE Trans. on Control System Technology, Vol.1, No.1, pp.50~62.
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