TY - GEN
T1 - The development of anti-windup scheme and stick-slip compensator for time delay control
AU - Chang, Pyung H.
AU - Park, Suk H.
PY - 1998
Y1 - 1998
N2 - Time Delay Control (TDC), owing to its simplicity and unusual performance against parameter variations and disturbances, has been noted and recognized as a promising technique. We have observed, however, that in the presence of the so-called hard nonlinearity such as saturation or static friction, TDC reveals some problems commonly found in other methods like PID control or disturbance observer. Specifically, when the system has a saturation limit, TDC shows the windup phenomenon; when static friction and stribeck effect are dominant, TDC reveals the stick-slip phenomenon. In this paper, we have reported these phenomena associated with TDC, presented their causes, and proposed their remedies. Specifically, through analysis, simulation, and experiment, we have shown that both the phenomena cause serious degradations in control performance; that they result from a common cause, the inherent integral effect in TDC; and that the proposed compensators are effective enough to handle the phenomena. In addition to their effectiveness, the proposed compensators have remarkable simplicity and efficiency that matches the positive attributes of the original TDC.
AB - Time Delay Control (TDC), owing to its simplicity and unusual performance against parameter variations and disturbances, has been noted and recognized as a promising technique. We have observed, however, that in the presence of the so-called hard nonlinearity such as saturation or static friction, TDC reveals some problems commonly found in other methods like PID control or disturbance observer. Specifically, when the system has a saturation limit, TDC shows the windup phenomenon; when static friction and stribeck effect are dominant, TDC reveals the stick-slip phenomenon. In this paper, we have reported these phenomena associated with TDC, presented their causes, and proposed their remedies. Specifically, through analysis, simulation, and experiment, we have shown that both the phenomena cause serious degradations in control performance; that they result from a common cause, the inherent integral effect in TDC; and that the proposed compensators are effective enough to handle the phenomena. In addition to their effectiveness, the proposed compensators have remarkable simplicity and efficiency that matches the positive attributes of the original TDC.
UR - http://www.scopus.com/inward/record.url?scp=0002648076&partnerID=8YFLogxK
U2 - 10.1109/ACC.1998.703290
DO - 10.1109/ACC.1998.703290
M3 - Conference contribution
AN - SCOPUS:0002648076
SN - 0780345304
SN - 9780780345300
T3 - Proceedings of the American Control Conference
SP - 3629
EP - 3633
BT - Proceedings of the 1998 American Control Conference, ACC 1998
T2 - 1998 American Control Conference, ACC 1998
Y2 - 24 June 1998 through 26 June 1998
ER -