Robust Stabilization of a Servomechanism With Respect To Time-Delay

Year 2016, , 250 - 257, 01.12.2016

Barış Samim Nesimioğlu , Sabri Yılmaz Emre Dincel

https://doi.org/10.18100/ijamec.270376

Cited By: 1

Abstract

In
this paper, a servomechanism under teleoperation is considered. Since the
teleoperation itself can result in large amount of time-delays and this amount
can change operation to operation, it can be difficult to control such
mechanisms in order to accomplish the desired tasks. From the robust control
viewpoint, a methodology that guarantees the stability in worst case is essential.
Based on a simple methodology to find the delay independent stabilizing
proportional (P) controller regions, just by forming the magnitude polynomial
and employing the root locus technique, the stability of the robot is
guaranteed, even in the worst case: the system becomes stable even if the
connection has huge amount of time-delays. This fact is evidenced first by the
simulations. To simulate the real system, as there is no information about the
motor parameters, the motor is modeled by a global optimization methodology,
named Genetic Algorithm in order to obtain a valid model for the system as
accurate as possible. Then the resulting P controllers are applied to the real
system, the results of which are found in accordance with the simulation
results; the stability of the operation is not affected by the time-delay. 

Keywords

Teleoperation System Control, Time-Delay Systems, Robust Control, Low-Order Controllers, Delay Independent Stability

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