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ICRA
2006
IEEE

Motion Duplication Control for Distributed Dynamic Systems by Natural Damping

13 years 9 months ago
Motion Duplication Control for Distributed Dynamic Systems by Natural Damping
— This paper proposes a motion duplication control scheme, which not only synchronizes motions between two distributed separate dynamic systems but also perfectly preserves prescribed dynamics. The proposed scheme sophisticatedly utilizes two-way Smith predictor to meet the simultaneous purposes. Closed loop behavior is mathematically investigated, and stability via natural damping and robustness are analyzed over the system, by examining the characteristic equation with delay components. Ways to compute robust stability margins are presented under the uncertainties in plant dynamics and amount of delay. Numerical simulations are presented to verify the theoretical results proposed in this paper.
Joono Cheong, Seungjin Lee, Jung Kim
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Joono Cheong, Seungjin Lee, Jung Kim
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