Adaptive time delay based control of non-collocated oscillatory systems

Abstract

Time delay based control, recently proposed for non-collocated fourth-order systems, has several advantages over an observer-based state-feedback compensation of the low-damped oscillations in output. In this paper, we discuss a practical infeasibility of such observer-based approach and bring forward application of the time delay based controller, which is simple in both the structure and design. Moreover, robust estimation of the output oscillation frequency is used and extended by a bias canceling. The latter is required for positioning the oscillatory passive loads. This way, an adaptive version of time delay-based control is realized that does not require prior knowledge of the mass and stiffness parameters. The results are demonstrated on the oscillatory experimental setup with constraints in the operation range and control value.

Figures (11)

• Figure 1: General framework of non-collocated system.
• Figure 2: Experimental setup of the non-collocated system.
• Figure 3: Comparison of the measured and computed oscillatory response of the free fall scenario ($f(t)=0$ for $t>20$ s).
• Figure 4: Block diagram of the state-feedback with observer.
• Figure 5: Sensitivity function of the state-feedback control loop with and without the use of observer.