Sandwiched deadbands can be seen in a wide variety of systems, such as electro-hydraulic systems controlled by closedcenter valves. In such a system, the deadband is between the plant and actuator dynamics and therefore can not be compensated directly like an input deadband. Though this sandwiched deadband problem may be attenuated to certain degree through sophisticated advanced control techni...

This paper proposes a new middleware solution called Network Adaptive Deadband (NAD) for long time operation of Networked Control Systems (NCS) through the Internet or any shared network based on IP technology. The proposed middleware takes into account the network status and the NCS status, to improve the global system performance and to share more effectively the network by several NCS and se...

In this paper, we present an indirect adaptive robust controller (IARC) for output tracking of a class of uncertain nonlinear systems with unknown input asymmetric deadband in presence of uncertain nonlinearities and parametric uncertainties. Most of the parameter adaptation algorithms, such as, gradienttype and least squares-type require that the unknown parameters of a system appear in affine...

Unlike input deadband, the sandwiched deadband between actuator and plant dynamics is very difficult to be explicitly compensated for due to the proceeding actuator dynamics whose effect may not be negligible. The paper presents a practical way to overcome the design conservativeness of existing methods in dealing with sandwiched deadband. Specifically, a describing function based nonlinear ana...

This paper studies the motion control of single-rod hydraulic actuators regulated by proportional directional control(PDC) valves with deadband and nonlinear flow gains. The boom motion control of a hydraulic robot arm driven by a singlerod hydraulic actuator is used as a case study. The experimental system dynamics are highly nonlinear. In addition, the system has large extent of modeling unce...

Multimodal telepresence and teleaction systems enable a human operator to perform in remote environments through a telerobot and a communication network. From a control point of view, the networked force feedback control system is the key challenge. This paper discusses human perception oriented aspects for the analysis and synthesis of telepresence control architectures. Based on human percept...

In telepresence and teleaction (TPTA) systems, the transmission of haptic signals puts high demands on the applied signal processing and communication procedures. When running a TPTA session across a packet-based communication network (e.g. Internet), minimizing the end-to-end delay results in packet rates of up to the applied sampling rate of the local control loops at the human system interfa...

A Concurrent Relay-PID controller (CRPID) for motor position servo systems is proposed in this paper. The proposed controller is composed of a deadband-relay subcontroller and a parallel PID subcontroller. The deadband-relay subcontroller is capable of improving the transient system performance while the PID subcontroller is responsible for near steady state system regulation. Systematic design...

Direct eddy-covariance measurements of aerosol number fluxes obtained during the 2007 CHATS field experiment in Dixon, California, USA are compared with relaxed eddy accumulation simulations using temperature and water vapour concentration as proxy scalars. After a brief discussion of the limited time response of the aerosol measurement, the applicability of temperature and water vapour concent...

Haptic systems are increasingly being used in various applications such as virtual training, remote presence, and telesurgery. Human perception characteristics play a major role in the design of perceptual compression methods for haptic systems. However, the performance of these methods is jeopardized when packet loss occurs in the network. This study presents a packet loss resilient perceptual...