Time delay is a common phenomenon in robotic systems due to computational requirements and communication properties between or within high-level and low-level controllers as well as the physical constraints of the actuator and sensor. It is widely believed that delays are harmful for robotic systems in terms of stability and performance; however, we propose a different view that the time delay of the system may in some cases benefit system stability and performance. Therefore, in this paper, we discuss the influences of the displacement-feedback delay (single delay) and both displacement and velocity feedback delays (double delays) on robotic actuator systems by using the cluster treatment of characteristic roots (CTCR) methodology. Hence, we can ascertain the exact stability interval for single-delay systems and the rigorous stability region for double-delay systems. The influences of controller gains and the filtering frequency on the stability of the system are discussed. Based on the stability information coupled with the dominant root distribution, we propose one nonconventional rule which suggests increasing time delay to certain time windows to obtain the optimal system performance. The computation results are also verified on an actuator testbed.
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Stability and Performance Analysis of Time-Delayed Actuator Control Systems
Bing Ai,
Bing Ai
Department of Computer Science,
University of Texas at Austin,
Austin, TX 78712
e-mail: bingai@cs.utexas.edu
University of Texas at Austin,
Austin, TX 78712
e-mail: bingai@cs.utexas.edu
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Luis Sentis,
Luis Sentis
Department of Mechanical Engineering,
University of Texas at Austin,
Austin, TX 78705
e-mail: lsentis@austin.utexas.edu
University of Texas at Austin,
Austin, TX 78705
e-mail: lsentis@austin.utexas.edu
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Nicholas Paine,
Nicholas Paine
Department of Mechanical Engineering,
University of Texas at Austin,
Austin, TX 78705
e-mail: npaine@utexas.edu
University of Texas at Austin,
Austin, TX 78705
e-mail: npaine@utexas.edu
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Song Han,
Song Han
Department of Computer Science and Engineering,
University of Connecticut,
Storrs, CT 06269
e-mail: song@engr.uconn.edu
University of Connecticut,
Storrs, CT 06269
e-mail: song@engr.uconn.edu
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Aloysius Mok,
Aloysius Mok
Department of Computer Science,
University of Texas at Austin,
Austin, TX 78712
e-mail: mok@cs.utexas.edu
University of Texas at Austin,
Austin, TX 78712
e-mail: mok@cs.utexas.edu
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Chien-Liang Fok
Chien-Liang Fok
Department of Mechanical Engineering,
University of Texas at Austin,
Austin, TX 78705
e-mail: liangfok@utexas.edu
University of Texas at Austin,
Austin, TX 78705
e-mail: liangfok@utexas.edu
Search for other works by this author on:
Bing Ai
Department of Computer Science,
University of Texas at Austin,
Austin, TX 78712
e-mail: bingai@cs.utexas.edu
University of Texas at Austin,
Austin, TX 78712
e-mail: bingai@cs.utexas.edu
Luis Sentis
Department of Mechanical Engineering,
University of Texas at Austin,
Austin, TX 78705
e-mail: lsentis@austin.utexas.edu
University of Texas at Austin,
Austin, TX 78705
e-mail: lsentis@austin.utexas.edu
Nicholas Paine
Department of Mechanical Engineering,
University of Texas at Austin,
Austin, TX 78705
e-mail: npaine@utexas.edu
University of Texas at Austin,
Austin, TX 78705
e-mail: npaine@utexas.edu
Song Han
Department of Computer Science and Engineering,
University of Connecticut,
Storrs, CT 06269
e-mail: song@engr.uconn.edu
University of Connecticut,
Storrs, CT 06269
e-mail: song@engr.uconn.edu
Aloysius Mok
Department of Computer Science,
University of Texas at Austin,
Austin, TX 78712
e-mail: mok@cs.utexas.edu
University of Texas at Austin,
Austin, TX 78712
e-mail: mok@cs.utexas.edu
Chien-Liang Fok
Department of Mechanical Engineering,
University of Texas at Austin,
Austin, TX 78705
e-mail: liangfok@utexas.edu
University of Texas at Austin,
Austin, TX 78705
e-mail: liangfok@utexas.edu
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 8, 2015; final manuscript received December 14, 2015; published online March 10, 2016. Assoc. Editor: M. Porfiri.
J. Dyn. Sys., Meas., Control. May 2016, 138(5): 051005 (20 pages)
Published Online: March 10, 2016
Article history
Received:
April 8, 2015
Revised:
December 14, 2015
Citation
Ai, B., Sentis, L., Paine, N., Han, S., Mok, A., and Fok, C. (March 10, 2016). "Stability and Performance Analysis of Time-Delayed Actuator Control Systems." ASME. J. Dyn. Sys., Meas., Control. May 2016; 138(5): 051005. https://doi.org/10.1115/1.4032461
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