جستجوی مقالات مرتبط با کلیدواژه "تاخیر تصادفی" در نشریات گروه "برق"

Remote control of robots is one of the most relevant and practical fields in robotics. Most of the control structures of remote operation systems seek to achieve transparency and stability at the same time, which the simultaneous achievement of the both, considering the uncertainty and disturbances in the system and random delay in the communication channel is very challenging. So far, many researchers have used position, speed, force or impedance information to provide various control methods, but none of these methods have achieved complete transparency and robust stability in the presence of random delay and uncertainties and disturbances and compromises between them should be made. In this paper, using a new method, a control structure including sliding mode control, adaptive control and impedance control is presented. This method has been simulated by Simulink of MATLAB software and it has been shown that this method is able to establish ideal transparency and ensure robust stability in the system with disturbances and uncertainties in the presence of random delay in the network.

This paper aims to present a novel and comprehensive model for actuator faults to address the problem of robust fault-tolerant controller design for networked control systems (NCSs) in the presence of phenomena such as random delays, model uncertainties, and actuator faults. For this purpose, firstly, the NCS has been appropriately modeled as discrete-time Markovian jump systems (MJSs) with partly-unknown transition probabilities. Then, the problem of mode-dependent static output feedback controller design has been studied not only as a convex optimization problem but also in the form of linear matrix inequalities (LMIs). Notably, the designed controller guaranteesthe stochastic stability of the closed-loop system in the presence of actuator faults and uncertainties. Finally, through numerical simulations, the theoretical results of this study are proved, and it has been shown that this method is more efficient and superior than other methods.

This paper deals with the problem of finite-time stochastic stability and stabilization of networked control systems in the presence of random delay. At first, the network random delay is modeled as a Markov chain, and the resulting closed-loop system is a Markovian jump linear system. Since, due to network complexities, the accurate access to transition probabilities are hard or even impossible, some of the elements in the transition probability matrix are considered as unknown. Then, according to the definition of finite-time stochastic stability for discrete-time Markovian jump systems, a sufficient condition is proposed to guaranty the boundedness of the system states in the sense of mean-square, in a determined time interval. In the next step, the results are extended for the finite-time stochastic stabilization problem of this specific class of systems and the output feedback controller is designed such that the closed-loop system is stochastically finite-time stable. All the results are presented in the form of new linear matrix inequalities (LMIs). The main contribution of this paper is utilizing the static output feedback controller for finite-time stochastic stabilization of the closed-loop system; besides, new LMIs are employed to calculate the output feedback control law. Also, in order to verify the theoretical results and show the applicability of the proposed controller, simulations are performed for two systems.