Motion control via telecommunication networks: Random time delays and a simple stability design
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CitationOkatan, A., Dimirovski, G. M. (2003). Motion control via telecommunication networks: Random time delays and a simple stability design. IFAC Proceedings Volumes, 36(7), 257-262. https://doi.org/10.1016/S1474-6670(17)35841-X
Motion control and navigation via telecommunications networks as well as the control of other dynamical systems recently again came in the focus by a number of authors world-wide. It has been subject to extensive investigation because of remote motion control applications, and also because of the impact of random time delays caused by telecommunication networking, e.g., Internet. The most essential phenomenon in implementing remote control via Internet networking is that of a random, time varying pure time delay. In turn, this phenomenon gives rise to the issue of closed-loop stability which may cause control performance deterioration, and even instability brake down of such control systems. Within the limitations of using linear models of the dynamics of controlled object - remote motion control process in open-loop system, a through design analysis is feasible and has been elaborated in the course of our research. In order to ensure the system stability, the maximum expected time-delay phenomenon must be observed at design stage of the control system. Hence the main design conclusion is to ensure that system parameters be adjusted according to the maximum expected delay distributions always.
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