TY - GEN
T1 - Feedback time delay as a stabilizing tool in trajectory tracking, analysis and experiments
AU - Olgac, Nejat
AU - Sipahi, Rifat
AU - Ergenc, Ali Fuat
PY - 2004
Y1 - 2004
N2 - A trajectory-tracking problem is considered, represented by linear time invariant (LTI) dynamics of the error. Interesting complexity appears, both analytically and experimentally, when the feedback line is affected by a time delay. We analyze first, the influence of the delay on the system stability and then validate the findings via experiments and numerical simulations. In this effort the system dynamics and the control law are all kept fixed while the only varying parameter is taken to be the feedback time delay, τ. The analysis is conducted utilizing a recent framework of the authors, "cluster treatment of characteristic roots (CTCR)". We obtain the complete stability outlook of the system in the domain of τ and observe an interesting property: The feedback delay may be utilized as a stabilizing tool within the control. That is, when properly selected it may improve the quality of control. We validate these observations via an experimental study and a dynamic simulation work. Ultimately we propose a unique and interesting procedure to use the time delay as a stabilizing agent as well as a tool to enhance the control performance.
AB - A trajectory-tracking problem is considered, represented by linear time invariant (LTI) dynamics of the error. Interesting complexity appears, both analytically and experimentally, when the feedback line is affected by a time delay. We analyze first, the influence of the delay on the system stability and then validate the findings via experiments and numerical simulations. In this effort the system dynamics and the control law are all kept fixed while the only varying parameter is taken to be the feedback time delay, τ. The analysis is conducted utilizing a recent framework of the authors, "cluster treatment of characteristic roots (CTCR)". We obtain the complete stability outlook of the system in the domain of τ and observe an interesting property: The feedback delay may be utilized as a stabilizing tool within the control. That is, when properly selected it may improve the quality of control. We validate these observations via an experimental study and a dynamic simulation work. Ultimately we propose a unique and interesting procedure to use the time delay as a stabilizing agent as well as a tool to enhance the control performance.
UR - https://www.scopus.com/pages/publications/8744273926
U2 - 10.1109/ACC.2004.249183
DO - 10.1109/ACC.2004.249183
M3 - Conference contribution
AN - SCOPUS:8744273926
SN - 0780383354
T3 - Proceedings of the American Control Conference
SP - 5443
EP - 5448
BT - Proceedings of the 2004 American Control Conference (AAC)
T2 - Proceedings of the 2004 American Control Conference (AAC)
Y2 - 30 June 2004 through 2 July 2004
ER -