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## Robust Stabilization of a Servomechanism With Respect To Time-Delay

#### Barış Samim Nesimioğlu [1] , Sabri Yılmaz [2] , Emre Dincel [3]

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.
Teleoperation System Control, Time-Delay Systems, Robust Control, Low-Order Controllers, Delay Independent Stability
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Subjects Engineering Research Article Author: Barış Samim Nesimioğlu Institution: KTO KARATAY ÜNİVERSİTESİCountry: Turkey Author: Sabri Yılmaz Institution: İSTANBUL TEKNİK ÜNİVERSİTESİCountry: Turkey Author: Emre Dincel Publication Date : December 1, 2016
 Bibtex @research article { ijamec270376, journal = {International Journal of Applied Mathematics Electronics and Computers}, issn = {}, eissn = {2147-8228}, address = {}, publisher = {Selcuk University}, year = {2016}, volume = {}, pages = {250 - 257}, doi = {10.18100/ijamec.270376}, title = {Robust Stabilization of a Servomechanism With Respect To Time-Delay}, key = {cite}, author = {Nesimioğlu, Barış Samim and Yılmaz, Sabri and Dincel, Emre} } APA Nesimioğlu, B , Yılmaz, S , Dincel, E . (2016). Robust Stabilization of a Servomechanism With Respect To Time-Delay. International Journal of Applied Mathematics Electronics and Computers , (Special Issue-1) , 250-257 . DOI: 10.18100/ijamec.270376 MLA Nesimioğlu, B , Yılmaz, S , Dincel, E . "Robust Stabilization of a Servomechanism With Respect To Time-Delay". International Journal of Applied Mathematics Electronics and Computers (2016 ): 250-257 Chicago Nesimioğlu, B , Yılmaz, S , Dincel, E . "Robust Stabilization of a Servomechanism With Respect To Time-Delay". International Journal of Applied Mathematics Electronics and Computers (2016 ): 250-257 RIS TY - JOUR T1 - Robust Stabilization of a Servomechanism With Respect To Time-Delay AU - Barış Samim Nesimioğlu , Sabri Yılmaz , Emre Dincel Y1 - 2016 PY - 2016 N1 - doi: 10.18100/ijamec.270376 DO - 10.18100/ijamec.270376 T2 - International Journal of Applied Mathematics Electronics and Computers JF - Journal JO - JOR SP - 250 EP - 257 VL - IS - Special Issue-1 SN - -2147-8228 M3 - doi: 10.18100/ijamec.270376 UR - https://doi.org/10.18100/ijamec.270376 Y2 - 2016 ER - EndNote %0 International Journal of Applied Mathematics Electronics and Computers Robust Stabilization of a Servomechanism With Respect To Time-Delay %A Barış Samim Nesimioğlu , Sabri Yılmaz , Emre Dincel %T Robust Stabilization of a Servomechanism With Respect To Time-Delay %D 2016 %J International Journal of Applied Mathematics Electronics and Computers %P -2147-8228 %V %N Special Issue-1 %R doi: 10.18100/ijamec.270376 %U 10.18100/ijamec.270376 ISNAD Nesimioğlu, Barış Samim , Yılmaz, Sabri , Dincel, Emre . "Robust Stabilization of a Servomechanism With Respect To Time-Delay". International Journal of Applied Mathematics Electronics and Computers / Special Issue-1 (December 2016): 250-257 . https://doi.org/10.18100/ijamec.270376 AMA Nesimioğlu B , Yılmaz S , Dincel E . Robust Stabilization of a Servomechanism With Respect To Time-Delay. International Journal of Applied Mathematics Electronics and Computers. 2016; (Special Issue-1): 250-257. Vancouver Nesimioğlu B , Yılmaz S , Dincel E . Robust Stabilization of a Servomechanism With Respect To Time-Delay. International Journal of Applied Mathematics Electronics and Computers. 2016; (Special Issue-1): 257-250.