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Sample records for delayed treatment control

  1. Application of a Computer-Assisted Navigation System (CANS) in the Delayed Treatment of Zygomatic Fractures: A Randomized Controlled Trial.

    Science.gov (United States)

    Gong, Xi; He, Yang; An, Jingang; Yang, Yao; Huang, Xiuling; Liu, Meng; Zhao, Yangyang; Zhang, Yi

    2017-07-01

    The delayed treatment of zygomatic complex (ZMC) fracture presents a difficult challenge to surgeons. The aim of this study was to compare the treatment effects of delayed surgery of ZMC fractures with and without a computer-assisted navigation system (CANS). In this observer-blinded single-site randomized clinical trial, patients with unilateral ZMC fracture were included and randomized 1:1 to delayed treatment with or without CANS. The primary outcome measurement was the absolute bilateral differences of the ZMC eminence and width based on computed tomographic (CT) measurements 48 to 72 hours after surgery. One hundred three patients with unilateral ZMC fracture without immediate treatment were enrolled, and 78 were randomized to each group. Postoperative CT measurements showed that the bilateral difference in ZMC eminence was significantly less for the navigation group than for the control group (1.24 vs 2.22 mm; P control group (P = .001). Photogrammetry showed that the average difference between the postoperative CT data and the preoperative design was smaller in the navigation group (1.30 vs 2.40 mm; P = .012). Use of CANS improved ZMC symmetry in patients with unilateral ZMC fracture who had delayed treatment by allowing for more accurate implementation of the preoperative plan. Copyright © 2016 American Association of Oral and Maxillofacial Surgeons. Published by Elsevier Inc. All rights reserved.

  2. Delays and networked control systems

    CERN Document Server

    Hetel, Laurentiu; Daafouz, Jamal; Johansson, Karl

    2016-01-01

    This edited monograph includes state-of-the-art contributions on continuous time dynamical networks with delays. The book is divided into four parts. The first part presents tools and methods for the analysis of time-delay systems with a particular attention on control problems of large scale or infinite-dimensional systems with delays. The second part of the book is dedicated to the use of time-delay models for the analysis and design of Networked Control Systems. The third part of the book focuses on the analysis and design of systems with asynchronous sampling intervals which occur in Networked Control Systems. The last part of the book exposes several contributions dealing with the design of cooperative control and observation laws for networked control systems. The target audience primarily comprises researchers and experts in the field of control theory, but the book may also be beneficial for graduate students. .

  3. Controllability of delay systems with restrained controls

    Science.gov (United States)

    Chukwu, E. N.

    1979-01-01

    Using a geometric growth condition, both the function space and Euclidean controllability of a nonlinear delay system which has a compact and convex control set are characterized. This extends analogous results for ordinary differential systems, and it yields conditions under which perturbed nonlinear delay controllable systems are controllable.

  4. Adverse events in diabetic foot infections: a case control study comparing early versus delayed medical treatment after home remedies

    Directory of Open Access Journals (Sweden)

    Cawich SO

    2014-11-01

    Full Text Available Shamir O Cawich, Patrick Harnarayan, Shariful Islam, Steve Budhooram, Shivaa Ramsewak, Vijay Naraynsingh Department of Clinical Surgical Sciences, University of the West Indies, St Augustine Campus, Trinidad and Tobago, West Indies Background: The aim of conventional medical therapy in diabetic foot infections is to control infection, thereby reducing amputation rates, infectious morbidity, and death. Any delay incurred during a trial of home remedies could allow an infection to progress unchecked, increasing the risk of these adverse outcomes. This study sought to determine the effects of delayed operative interventions and amputations in these patients. Methods: A questionnaire study targeting all consecutive patients admitted with diabetic foot infection was carried out over 1 year. Two groups were defined, ie, a medical therapy group comprising patients who sought medical attention after detecting their infection and a home remedy group comprising those who voluntarily chose to delay medical therapy in favor of home remedies. The patients were followed throughout their hospital admissions. We recorded the duration of hospitalization and number of operative debridements and amputations performed. Results: There were 695 patients with diabetic foot infections, comprising 382 in the medical therapy group and 313 in the home remedy group. Many were previously hospitalized for foot infections in the medical therapy (78% and home remedy (74.8% groups. The trial of home remedies lasted for a mean duration of 8.9 days. The home remedy group had a longer duration of hospitalization (16.3 versus 8.5 days; P<0.001, more operative debridements (99.7% versus 94.5%; P<0.001, and more debridements per patient (2.85 versus 2.45; P<0.001. Additionally, in the home remedy group, there was an estimated increase in expenditure of US $10,821.72 US per patient and a trend toward more major amputations (9.3% versus 5.2%; P=0.073. Conclusion: There are negative

  5. The Mind-Tranquilizing and Menstruation-Regulating Method for Acupuncture Treatment of Delayed Menstrual Cycle——A Clinical Controlled Study

    Institute of Scientific and Technical Information of China (English)

    CAI Xue-mei; WU Jie

    2009-01-01

    To compare the therapeutic effects of the mind-tranquilizing and menstruation-regulating acupuncture method with the routine acupuncture method in treating delayed menstrual cycle. Methods: 40 patients with delayed menstrual cycle were randomly divided into a treatment group of 23 cases (treated by the mind-tranquilizing and menstruation-regulating acupuncture method),and a control group of 17 cases (treated by the routine acupuncture method for delayed menstrual cycle due to stagnation of the liver-qi). The treatment involved three menstrual cycles. The evaluations were done by scoring the symptoms before treatment and at the end of each menstrual cycle. Results: After treatment,significant differences were found between the two groups in the therapeutic effects (P<0.05). Conclusion: The therapeutic effect of the mind-tranquilizing and menstruation-regulating acupuncture method is significantly superior to that of the routine acupuncture method for delayed menstrual cycle.

  6. The mind-tranquilizing and menstruation-regulating method for acupuncture treatment of delayed menstrual cycle--a clinical controlled study.

    Science.gov (United States)

    Cai, Xue-mei; Wu, Jie

    2009-03-01

    To compare the therapeutic effects of the mind-tranquilizing and menstruation-regulating acupuncture method with the routine acupuncture method in treating delayed menstrual cycle. 40 patients with delayed menstrual cycle were randomly divided into a treatment group of 23 cases (treated by the mind-tranquilizing and menstruation-regulating acupuncture method), and a control group of 17 cases (treated by the routine acupuncture method for delayed menstrual cycle due to stagnation of the liver-qi). The treatment involved three menstrual cycles. The evaluations were done by scoring the symptoms before treatment and at the end of each menstrual cycle. After treatment, significant differences were found between the two groups in the therapeutic effects (Pmenstrual cycle.

  7. Determinants of delay in malaria treatment-seeking behaviour for under-five children in south-west Ethiopia: a case control study

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    Deribew Amare

    2010-11-01

    Full Text Available Abstract Background Prompt diagnosis and timely treatment of malaria within 24 hours after onset of first symptoms can reduce illness progression to severe stages and therefore, decrease mortality. The reason why mothers/caretakers delay in malaria diagnosis and treatment for under-five children is not well studied in Ethiopia. The objective of this study was to assess determinants of malaria treatment delay in under-five children in three districts of south-west Ethiopia. Methods A case control study was conducted from March 15 to April 20, 2010. Cases were under-five children who had clinical malaria and sought treatment after 24 hours of developing sign and symptom, and controls were under-five children who had clinical malaria and sought treatment within 24 hours of developing sign and symptom of malaria. Data were collected by trained enumerators using structured questionnaire. Data were entered in to Epi Info version 6.04 and analyzed using SPSS version 16.0. To identify determinants, multiple logistic regression was done. Results A total of 155 mothers of cases and 155 mothers of controls were interviewed. Mothers of children who were in a monogamous marriage (OR = 3.41, 95% CI: 1.39, 8.34, who complained about the side effects of anti-malarial drugs (OR = 4.96, 95% CI: 1.21, 20.36, who had no history of child death (OR = 3.50, 95% CI: 1.82, 6.42 and who complained about the higher cost of transportation to reach the health institutions (OR = 2.01, 95% CI: 1.17, 3.45 were more likely to be late for the treatment of malaria in under-five children. Conclusion Effective malaria control programmes should address reducing delayed presentation of children for treatment. Efforts to reduce delay should address transport cost, decentralization of services and increasing awareness of the community on early diagnosis and treatment.

  8. Transition delay using control theory.

    Science.gov (United States)

    Bagheri, S; Henningson, D S

    2011-04-13

    This review gives an account of recent research efforts to use feedback control for the delay of laminar-turbulent transition in wall-bounded shear flows. The emphasis is on reducing the growth of small-amplitude disturbances in the boundary layer using numerical simulations and a linear control approach. Starting with the application of classical control theory to two-dimensional perturbations developing in spatially invariant flows, flow control based on control theory has progressed towards more realistic three-dimensional, spatially inhomogeneous flow configurations with localized sensing/actuation. The development of low-dimensional models of the Navier-Stokes equations has played a key role in this progress. Moreover, shortcomings and future challenges, as well as recent experimental advances in this multi-disciplinary field, are discussed.

  9. HAMLET treatment delays bladder cancer development.

    Science.gov (United States)

    Mossberg, Ann-Kristin; Hou, Yuchuan; Svensson, Majlis; Holmqvist, Bo; Svanborg, Catharina

    2010-04-01

    HAMLET is a protein-lipid complex that kills different types of cancer cells. Recently we observed a rapid reduction in human bladder cancer size after intravesical HAMLET treatment. In this study we evaluated the therapeutic effect of HAMLET in the mouse MB49 bladder carcinoma model. Bladder tumors were established by intravesical injection of MB49 cells into poly L-lysine treated bladders of C57BL/6 mice. Treatment groups received repeat intravesical HAMLET instillations and controls received alpha-lactalbumin or phosphate buffer. Effects of HAMLET on tumor size and putative apoptotic effects were analyzed in bladder tissue sections. Whole body imaging was used to study HAMLET distribution in tumor bearing mice compared to healthy bladder tissue. HAMLET caused a dose dependent decrease in MB49 cell viability in vitro. Five intravesical HAMLET instillations significantly decreased tumor size and delayed development in vivo compared to controls. TUNEL staining revealed selective apoptotic effects in tumor areas but not in adjacent healthy bladder tissue. On in vivo imaging Alexa-HAMLET was retained for more than 24 hours in the bladder of tumor bearing mice but not in tumor-free bladders or in tumor bearing mice that received Alexa-alpha-lactalbumin. Results show that HAMLET is active as a tumoricidal agent and suggest that topical HAMLET administration may delay bladder cancer development. Copyright (c) 2010 American Urological Association Education and Research, Inc. Published by Elsevier Inc. All rights reserved.

  10. ON FEEDBACK CONTROL OF DELAYED CHAOTIC SYSTEM

    Institute of Scientific and Technical Information of China (English)

    李丽香; 彭海朋; 卢辉斌; 关新平

    2001-01-01

    In this paper two different types of feedback control technique are discussed: the standard feedback control and the time-delay feedback control which have been successfully used in many control systems. In order to understand to what extent the two different types of control technique are useful in delayed chaotic systems, some analytic stabilization conditions for chaos control from the two types of control technique are derived based on Lyapunov stabilization arguments. Similarly, we discuss the tracking problem by applying the time-delay feedback control. Finally, numerical examples are provided.

  11. Improved control of delayed measured systems

    Science.gov (United States)

    Claussen, Jens Christian; Schuster, Heinz Georg

    2004-11-01

    In this paper, we address the question of how the control of delayed measured chaotic systems can be improved. Both unmodified Ott-Grebogi-Yorke control and difference control can be successfully applied only for a certain range of Lyapunov numbers depending on the delay time. We show that this limitation can be overcome by at least two classes of methods, namely, by rhythmic control and by the memory methods of linear predictive logging control and memory difference control.

  12. Cognitive Behavioral Therapy as an Adjunct Treatment to Light Therapy for Delayed Sleep Phase Disorder in Young Adults: A Randomized Controlled Feasibility Study.

    Science.gov (United States)

    Danielsson, Katarina; Jansson-Fröjmark, Markus; Broman, Jan-Erik; Markström, Agneta

    2016-01-01

    Delayed sleep phase disorder (DSPD) is common among young people, but there is still no evidence-based treatment available. In the present study, the feasibility of cognitive behavioral therapy (CBT) was evaluated as an additive treatment to light therapy (LT) in DSPD. A randomized controlled trial with participants aged 16 to 26 years received LT for two weeks followed by either four weeks of CBT or no treatment (NT). LT advanced sleep-wake rhythm in both groups. Comparing LT+CBT with LT+NT, no significant group differences were observed in the primary endpoints. Although anxiety and depression scores were low at pretreatment, they decreased significantly more in LT+CBT compared to LT+NT. The results are discussed and some suggestions are given for further studies.

  13. Feedback Control of Chaos in Delay Maps

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    In this paper, we discuss feedback control of a class of delay chaotic maps. Our aim is to drive the chaoticmaps to its initially unstable fixed points by using linear and nonlinear state feedback control. The control is achievedby using small, bounded perturbations. Some numerical simulations are given to demonstrate the effectiveness of theproposed control method.

  14. Delayed feedback control in quantum transport.

    Science.gov (United States)

    Emary, Clive

    2013-09-28

    Feedback control in quantum transport has been predicted to give rise to several interesting effects, among them quantum state stabilization and the realization of a mesoscopic Maxwell's daemon. These results were derived under the assumption that control operations on the system are affected instantaneously after the measurement of electronic jumps through it. In this contribution, I describe how to include a delay between detection and control operation in the master equation theory of feedback-controlled quantum transport. I investigate the consequences of delay for the state stabilization and Maxwell's daemon schemes. Furthermore, I describe how delay can be used as a tool to probe coherent oscillations of electrons within a transport system and how this formalism can be used to model finite detector bandwidth.

  15. TSM control of the delayed input system

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    The paper proposed a terminal sliding mode control method for the delayed input system with uncertainties. Firstly, through the state transformation, the original system was transformed into the non-delayed controllable canonical form system. Then the paper designed a terminal sliding mode and terminal sliding control law with Lyapunov method for the transformed system. Through the method, the reaching time of the any initial state and the convergencing time to the equilibrium points are constrained in finite time. The simulation results show the validation of the method.

  16. CONTROLLABILITY OF DELAY DEGENERATE CONTROL SYSTEMS WITH INDEPENDENT SUBSYSTEMS

    Institute of Scientific and Technical Information of China (English)

    蒋威

    2003-01-01

    The controllability of delay degenerate differential control systems is discussed. Firstly, delay degenerate differential control system was transformed to be canonical form, and the connected terms were gotten rid of, had delay degenerate differential control systems with independent subsystems. For the general delay degenerate differnetial control systems, it was gotten that the necessary and sufficient condition of that they are controllable is that their reachable set is equal to the whole space For the delay degenerate differential control systems with independent subsystems, it was gotten that the necessary and sufficient conditions of that they are controllable are that their reachable sets are equal to their corresponding subspaces. Then some algebra criteria were gotten. Finally, an example was given to illustrate the main results.

  17. H∞ State Feedback Delay-dependent Control for Discrete Systems with Multi-time-delay

    Institute of Scientific and Technical Information of China (English)

    Bai-Da Qu

    2005-01-01

    In this paper,H∞ state feedback control with delay information for discrete systems with multi-time-delay is discussed. Making use of linear matrix inequality (LMI) approach, a time-delay-dependent criterion for a discrete system with multi-time-delay to satisfy H∞ performance indices is induced, and then a strategy for H∞ state feedback control with delay values for plant with multi-time-delay is obtained. By solving corresponding LMI, a delay-dependent state feedback controller satisfying H∞ performance indices is designed. Finally, a simulation example demonstrates the validity of the proposed approach.

  18. Controlling a time-delay system using multiple delay feedback control

    Institute of Scientific and Technical Information of China (English)

    Qi Wei; Zhang Yan; Wang Ying-Hai

    2007-01-01

    In this paper multiple delay feedback control (MDFC) with different and independent delay times is shown to be an efficient method for stabilizing fixed points in finite-dimensional dynamical systems. Whether MDFC can be applied to infinite-dimensional systems has been an open question. In this paper we find that for infinite-dimensional systems modelled by delay differential equations, MDFC works well for stabilizing (unstable) steady states in long-, moderate-and short-time delay regions, in particular for the hyperchaotic case.

  19. Design of a Novel Current Balanced Voltage Controlled Delay Element

    Directory of Open Access Journals (Sweden)

    Pooja Saxena

    2014-04-01

    Full Text Available This paper presents a design of fast voltage controlled delay element based on modified version of low noise Current Balanced Logic (CBL. This delay element provides identical rising and falling edge delays controlled by the single control voltage. The post layout tunable delay range is from 140 ps to 800 ps over control voltage range of 0 to 2.1 V. An analysis for the delay element is also presented, which is in agreement with the simulated delays. A Delay Lock Loop (DLL is designed using this delay element to verify its performance.

  20. Nonlinear Control of Delay and PDE Systems

    Science.gov (United States)

    Bekiaris-Liberis, Nikolaos

    In this dissertation we develop systematic procedures for the control and analysis of general nonlinear systems with delays and of nonlinear PDE systems. We design predictor feedback laws (i.e., feedback laws that use the future, rather than the current state of the system) for the compensation of delays (i.e., after the control signal reaches the system for the first time, the system behaves as there were no delay at all) that can be time-varying or state-dependent, on the input and on the state of nonlinear systems. We also provide designs of predic- tor feedback laws for linear systems with constant distributed delays and known or unknown plant parameters, and for linear systems with simultaneous known or unknown constant delays on the input and the state. Moreover, we intro- duce infinite-dimensional backstepping transformations for each particular prob-lem, which enables us to construct Lyapunov-Krasovskii functionals. With the available Lyapunov-Krasovskii functionals we study stability, as well as, robust- ness of our control laws to plant uncertainties. We deal with coupled PDE-ODE systems. We consider nonlinear systems with wave actuator dynamics, for which we design a predictor inspired feedback law. We study stability of the closed-loop system either by constructing Lyapunov functionals, or using arguments of explicit solutions. We also consider linear sys- tems with distributed actuator and sensor dynamics governed by diffusion or wave PDEs, for which we design stabilizing feedback laws. We study stability of the closed-loop systems using Lyapunov functionals that we construct with the intro- duction of infinite-dimensional transformations of forwarding type. Finally, we develop a control design methodology for coupled nonlinear first-order hyperbolic PDEs through an application to automotive catalysts.

  1. Time-delay feedback control in a delayed dynamical chaos system and its applications

    Institute of Scientific and Technical Information of China (English)

    Ye Zhi-Yong; Yang Guang; Deng Cun-Bing

    2011-01-01

    The feedback control of a delayed dynamical system, which also includes various chaotic systems with time delays, is investigated. On the basis of stability analysis of a nonautonomons system with delays, some simple yet less conservative criteria are obtained for feedback control in a delayed dynamical system. Finally, the theoretical result is applied to a typical class of chaotic Lorenz system and Chua circuit with delays. Numerical simulations are also given to verify the theoretical results.

  2. Optimal Control with Time Delays via the Penalty Method

    Directory of Open Access Journals (Sweden)

    Mohammed Benharrat

    2014-01-01

    Full Text Available We prove necessary optimality conditions of Euler-Lagrange type for a problem of the calculus of variations with time delays, where the delay in the unknown function is different from the delay in its derivative. Then, a more general optimal control problem with time delays is considered. Main result gives a convergence theorem, allowing us to obtain a solution to the delayed optimal control problem by considering a sequence of delayed problems of the calculus of variations.

  3. Variable-delay feedback control of unstable steady states in retarded time-delayed systems

    CERN Document Server

    Gjurchinovski, Aleksandar; 10.1103/PhysRevE.81.016209

    2010-01-01

    We study the stability of unstable steady states in scalar retarded time-delayed systems subjected to a variable-delay feedback control. The important aspect of such a control problem is that time-delayed systems are already infinite-dimensional before the delayed feedback control is turned on. When the frequency of the modulation is large compared to the system's dynamics, the analytic approach consists of relating the stability properties of the resulting variable-delay system with those of an analogous distributed delay system. Otherwise, the stability domains are obtained by a numerical integration of the linearized variable-delay system. The analysis shows that the control domains are significantly larger than those in the usual time-delayed feedback control, and that the complexity of the domain structure depends on the form and the frequency of the delay modulation.

  4. Fixed points and controllability in delay systems

    Directory of Open Access Journals (Sweden)

    2006-01-01

    Full Text Available Schaefer's fixed point theorem is used to study the controllability in an infinite delay system x ′ ( t = G ( t , x t + ( B u ( t . A compact map or homotopy is constructed enabling us to show that if there is an a priori bound on all possible solutions of the companion control system x ′ ( t = λ [ G ( t , x t + ( B u ( t ] , 0 < λ < 1 , then there exists a solution for λ = 1 . The a priori bound is established by means of a Liapunov functional or applying an integral inequality. Applications to integral control systems are given to illustrate the approach.

  5. Delayed Antiwindup Control Using a Decoupling Structure

    Directory of Open Access Journals (Sweden)

    Huawei Zhu

    2013-01-01

    Full Text Available This paper investigates the antiwindup (AW control problem for plants with input saturation. The AW compensator is not activated as soon as input saturation occurs as usual. A delayed decoupling structure is first proposed. Then, appropriate linear matrix inequalities (LMIs are developed to determine a plant-order AW compensator. Effectiveness of the presented AW technique is illustrated by a fighter aircraft model.

  6. Structural Controllability of Discrete-Time Linear Control Systems with Time-Delay: A Delay Node Inserting Approach

    OpenAIRE

    Ailing Qi; Xuewei Ju; Qing Zhang; Zengqiang Chen

    2016-01-01

    This paper is concerned with the structural controllability analysis for discrete-time linear control systems with time-delay. By adding virtual delay nodes, the linear systems with time-delay are transformed into corresponding linear systems without time-delay, and the structural controllability of them is equivalent. That is to say, the time-delay does not affect or change the controllability of the systems. Several examples are also presented to illustrate the theoretical results.

  7. Controllability of Linear Discrete-Time Systems with Both Delayed States and Delayed Inputs

    Directory of Open Access Journals (Sweden)

    Hong Shi

    2013-01-01

    Full Text Available The controllability issues for discrete-time linear systems with delay in state and control are addressed. By introducing a new concept, the controllability realization index (CRI, the characteristic of controllability is revealed. An easily testable necessary and sufficient condition for the controllability of discrete-time linear systems with state and control delay is established.

  8. Online Delay-Evaluation Control for Networked Control Systems

    Institute of Scientific and Technical Information of China (English)

    马向华; 魏震; 谢剑英

    2003-01-01

    This paper presented an evaluation approach of time delays for networked control systems (NCS). Animproved scheme based on optimal LQG control was designed to achieve desired performance despite the uncertaindelays in the system. The experimental results illustrate the effectiveness of the proposed control design and satis-factory performance of the closed-loop system.

  9. Absolute Stability for Lurie Control System with Unbound Time Delays

    Institute of Scientific and Technical Information of China (English)

    王天成; 王耀才; 洪留荣

    2004-01-01

    Time delay existes widely in various real engineering systems and can result in unsatisfactory performance or even an instability of control systems. Therefore, to investigate the stability for time delay systems is of vitul importance in control theory and its applications. Many researchers have studied the stability criteria of systems with constant delay or bound varying time delay, but few of them studied large time delay or unbound time delay. Large time delay existes commonly in various engineering applications. In this paper, the absolute stability of Lurie type direct control systems and indirect control systems with several time delays are discussed. Based on Lyapunov theory, the new delay dependent absolute stability criteria are derived. In our theorem, time delays can be unbound functions, which shows that the results are less conservative than that of existed criteria.

  10. Delay-dependent robust passivity control for uncertain time-delay systems

    Institute of Scientific and Technical Information of China (English)

    Li Guifang; Li Huiying; Yang Chengwu

    2007-01-01

    The robust passivity control problem is addressed for a class of uncertain delayed systems with timevarying delay. The parameter uncertainties are norm-bounded. First, the delay-dependent stability sufficient condition is obtained for the nominal system, and then, based-on the former, the delay-dependent robust passivity criteria is provided and the corresponding controller is designed in terms of linear matrix inequalities. Finally, a numerical example is given to demonstrate the validity of the proposed approach.

  11. Treatment of bronchial ruptures by delayed surgery

    Institute of Scientific and Technical Information of China (English)

    1999-01-01

    Objective:To study the causes that resulted in delayed surgery for bronchial ruptures and the results.Methods:The cases with the bronchial ruptures by the delayed surgery last decade were retrospectively reviewed.The causes and unsatisfactory results were analysed.Results:The severe complications usually occurred after the delayed surgery and the results were not as satisfactory as those by early surgery.Conclusion:The bronchial ruptures ought to be operated in the early stage after being wounded.

  12. Gompertz model with delays and treatment: mathematical analysis.

    Science.gov (United States)

    Bodnar, Marek; Piotrowska, Monika Joanna; Foryś, Urszula

    2013-06-01

    In this paper we study the delayed Gompertz model, as a typical model of tumor growth, with a term describing external interference that can reflect a treatment, e.g. chemotherapy. We mainly consider two types of delayed models, the one with the delay introduced in the per capita growth rate (we call it the single delayed model) and the other with the delay introduced in the net growth rate (the double delayed model). We focus on stability and possible stability switches with increasing delay for the positive steady state. Moreover, we study a Hopf bifurcation, including stability of arising periodic solutions for a constant treatment. The analytical results are extended by numerical simulations for a pharmacokinetic treatment function.

  13. Methods of Synthesis of Automatic Control Systems with Delay

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    Aliaksandr Lapeta

    2013-05-01

    Full Text Available The paper investigates the procedure for introduction of systems containing delay elements. Shortcomings and difficulties in the synthesis of regulators and precompensators of control systems with delays in output and control channel where determined. The author focused on two approaches for the formation of promatrix and synthesis of control systems, considering the factor of delay.

  14. Modeling of Random Delays in Networked Control Systems

    Directory of Open Access Journals (Sweden)

    Yuan Ge

    2013-01-01

    Full Text Available In networked control systems (NCSs, the presence of communication networks in control loops causes many imperfections such as random delays, packet losses, multipacket transmission, and packet disordering. In fact, random delays are usually the most important problems and challenges in NCSs because, to some extent, other problems are often caused by random delays. In order to compensate for random delays which may lead to performance degradation and instability of NCSs, it is necessary to establish the mathematical model of random delays before compensation. In this paper, four major delay models are surveyed including constant delay model, mutually independent stochastic delay model, Markov chain model, and hidden Markov model. In each delay model, some promising compensation methods of delays are also addressed.

  15. Online Delay-Evaluation Approach in Networked Control Systems

    Institute of Scientific and Technical Information of China (English)

    魏震; 马向华; 谢剑英

    2003-01-01

    This paper presents an online evaluation approach of time delays for networked control systems (NCS), which characterizes the time delays without any synchronized clock in the network and any assumptions of time delays. With this approach, an optimal control scheme based on the approach is designed to achieve the desired performance despite the uncertain delays in the system. The experimental results based on CANbus illustrate the effectiveness of the proposed control design and satisfactory performance of the closed-loop system.

  16. Delayed feedback control of time-delayed chaotic systems: Analytical approach at Hopf bifurcation

    Energy Technology Data Exchange (ETDEWEB)

    Vasegh, Nastaran [Faculty of Electrical Engineering, K.N. Toosi University of Technology, PO Box 16315-1355, Tehran (Iran, Islamic Republic of)], E-mail: vasegh@eetd.kntu.ac.ir; Sedigh, Ali Khaki [Faculty of Electrical Engineering, K.N. Toosi University of Technology, PO Box 16315-1355, Tehran (Iran, Islamic Republic of)

    2008-07-28

    This Letter is concerned with bifurcation and chaos control in scalar delayed differential equations with delay parameter {tau}. By linear stability analysis, the conditions under which a sequence of Hopf bifurcation occurs at the equilibrium points are obtained. The delayed feedback controller is used to stabilize unstable periodic orbits. To find the controller delay, it is chosen such that the Hopf bifurcation remains unchanged. Also, the controller feedback gain is determined such that the corresponding unstable periodic orbit becomes stable. Numerical simulations are used to verify the analytical results.

  17. Stability of formation control using a consensus protocol under directed communications with two time delays and delay scheduling

    Science.gov (United States)

    Cepeda-Gomez, Rudy; Olgac, Nejat

    2016-01-01

    We consider a linear algorithm to achieve formation control in a group of agents which are driven by second-order dynamics and affected by two rationally independent delays. One of the delays is in the position and the other in the velocity information channels. These delays are taken as constant and uniform throughout the system. The communication topology is assumed to be directed and fixed. The formation is attained by adding a supplementary control term to the stabilising consensus protocol. In preparation for the formation control logic, we first study the stability of the consensus, using the recent cluster treatment of characteristic roots (CTCR) paradigm. This effort results in a unique depiction of the non-conservative stability boundaries in the domain of the delays. However, CTCR requires the knowledge of the potential stability switching loci exhaustively within this domain. The creation of these loci is done in a new surrogate coordinate system, called the 'spectral delay space (SDS)'. The relative stability is also investigated, which has to do with the speed of reaching consensus. This step leads to a paradoxical control design concept, called the 'delay scheduling', which highlights the fact that the group behaviour may be enhanced by increasing the delays. These steps lead to a control strategy to establish a desired group formation that guarantees spacing among the agents. Example case studies are presented to validate the underlying analytical derivations.

  18. Controlling flow time delays in flexible manufacturing cells

    NARCIS (Netherlands)

    Slomp, J.; Caprihan, R.; Bokhorst, J. A. C.

    2009-01-01

    Flow time delays in Flexible Manufacturing Cells (FMCs) are caused by transport and clamping/reclamping activities. This paper shows how dynamic scheduling parameters may control the flow times of jobs and the available task windows for flow time delays.

  19. Introduction to time-delay systems analysis and control

    CERN Document Server

    Fridman, Emilia

    2014-01-01

    The beginning of the 21st century can be characterized as the ”time-delay boom” leading to numerous important results. The purpose of this book is two-fold, to familiarize the non-expert reader with time-delay systems and to provide a systematic treatment of modern ideas and techniques for experts. This book is based on the course ”Introduction to time-delay systems” for graduate students in Engineering and Applied Mathematics that the author taught in Tel Aviv University in 2011-2012 and 2012-2013 academic years. The sufficient background to follow most of the material are the undergraduate courses in mathematics and an introduction to control. The book leads the reader from some basic classical results on time-delay systems to recent developments on Lyapunov-based analysis and design with applications to the hot topics of sampled-data and network-based control. The objective is to provide useful tools that will allow the reader not only to apply the existing methods, but also to develop new ones. It...

  20. Delay-dependent robust H∞ control for uncertain fuzzy hyperbolic systems with multiple delays

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    The robust H∞ control problem was considered for a class of fuzzy hyperbolic model (FHM) systems with parametric uncertainties and multiple delays. First, FHM modeling method was presented for time-delay nonlinear systems. Then, by using Lyapunov-Krasovskii approaches, delay-dependent sufficient condition for the existence of a kind of state feedback controller was proposed, which was expressed as linear matrix inequalities (LMIs). The controller can guarantee that the resulting closed-loop system is robustly asymptotically stable with a prescribed H∞ performance level for all admissible uncertainties and time-delay. Finally, a simulation example was provided to illustrate the effectiveness of the proposed approach.

  1. Delay-dependent observer-based stabilizing controller design for linear multiple state-delayed systems

    Institute of Scientific and Technical Information of China (English)

    Dejin WANG

    2003-01-01

    This article concerns a coupled LMIs approach to delay-dependent observer-based output feedback stabilizing controller design for linear continuous-time systems with multiple state delays. The advantage of our proposed delay-dependent coupled LMIs criterion lies in that: (1) it can optimize one of multiple time delays with others selected properly, and at the same time, the feedback-gain and observer-gain can be obtained, respectively. (2) it is less conservative than the existing delay-independent ones in the literature. Algorithm to solve the coupled LMIs is also given. Numerical examples illustrate the effectiveness of our method.

  2. Delay-dependent guaranteed cost control for uncertain systems with both state and input delays

    Institute of Scientific and Technical Information of China (English)

    Xuanfang YANG; Wuhua CHEN; Huajing FANG

    2004-01-01

    This paper considers the guaranteed cost control problem for a class of uncertain linear systems with both state and input delays.By representing the time-delay system in the descriptor system form and using a recent result on bounding of cross products of vectors,we obtain new delay-dependent sufficient conditions for the existence of the guaranteed cost controller in terms of linear matrix inequalities.Two examples are presented which show the effectiveness of our approach.

  3. Delays in seeking treatment for symptomatic tuberculosis in Sabah, East Malaysia: factors for patient delay.

    Science.gov (United States)

    Rundi, C; Fielding, K; Godfrey-Faussett, P; Rodrigues, L C; Mangtani, P

    2011-09-01

    The state of Sabah contributes one third of the tuberculosis (TB) cases in Malaysia. To collect information on factors that affect the time period from the onset of symptoms to first contact with health care providers, whether private or government. A cross-sectional study using a pre-tested questionnaire was conducted among 296 newly registered smear-positive TB patients in 10 districts in Sabah. Univariable and multivariable analyses were used to determine which risk factors were associated with patient delay (>30 days) and 'extreme' patient delay (>90 days). The percentage of patients who sought treatment after 30 and 90 days was respectively 51.8% (95%CI 45.7-57.9) and 23.5% (95%CI 18.6-29.0). The strongest factors associated with patient delay and 'extreme' patient delay was when the first choice for treatment was a non-government health facility and in 30-39-year-olds. 'Extreme' patient delay was also weakly associated, among other factors, with comorbidity and livestock ownership. Delay and extreme delay in seeking treatment were more common when the usual first treatment choice was a non-government health facility. Continuous health education on TB aimed at raising awareness and correcting misconceptions is needed, particularly among those who use non-government facilities.

  4. Delay-dependent robust H∞ controller design for a class of nonlinear uncertainty time-delay systems with input delay

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    Based on an appropriate Lyapunov function,this paper analyzes the design of a delay-dependent robust H∞ state feedback control,with a focus on a class of non linear uncertainty linear time-delay systems with input delay using linear matrix inequalities.Under the condition that the nonlinear uncertain functions are gain bounded,a sufficient condition dependent on the delays of the state and input is presented for the existence of H∞ controller.The proposed controller not only stabilized closed-loop uncertain systems but also guaranteed a prescribed H∞ norm bound of closed-loop transfer matrix from the disturbance to controlled output.By solving a linear matrix inequation,we can obtain the robust H∞ controller.An example is given to show the effectiveness of the proposed method.

  5. Delay-dependent H-infinity control for continuous time-delay systems via state feedback

    Institute of Scientific and Technical Information of China (English)

    Xinchun JIA; Yibo GAO; Jingmei ZHANG; Nanning ZHENG

    2007-01-01

    The delay-dependent H-infinity analysis and H-infinity control problems for continuous time-delay systems are studied. By introducing an equality with some free weighting matrices, an improved criterion of delay-dependent stability with H-infinity performance for such systems is presented, and a criterion of existence and some design methods of delay-dependent H-infinity controller for such systems are proposed in term of a set of matrix inequalities, which is solved efficiently by an iterative algorithm. Further, the corresponding results for the delay-dependent robust H-infinity analysis and robust H-infinity control problems for continuous time-delay uncertain systems are given. Finally, two numerical examples are given to illustrate the efficiency of the proposed method by comparing with the other existing results.

  6. Chaos control in delayed chaotic systems via sliding mode based delayed feedback

    Energy Technology Data Exchange (ETDEWEB)

    Vasegh, Nastaran [Faculty of Electrical Engineering, K.N. Toosi University of Technology, Seyed Khandan Bridge, Shariati St. 16314, P.O. Box 16315-1355, Tehran (Iran, Islamic Republic of)], E-mail: vasegh@eetd.kntu.ac.ir; Sedigh, Ali Khaki [Faculty of Electrical Engineering, K.N. Toosi University of Technology, Seyed Khandan Bridge, Shariati St. 16314, P.O. Box 16315-1355, Tehran (Iran, Islamic Republic of)

    2009-04-15

    This paper investigates chaos control for scalar delayed chaotic systems using sliding mode control strategy. Sliding surface design is based on delayed feedback controller. It is shown that the proposed controller can achieve stability for an arbitrary unstable fixed point (UPF) or unstable periodic orbit (UPO) with arbitrary period. The chaotic system used in this study to illustrate the theoretical concepts is the well known Mackey-Glass model. Simulation results show the effectiveness of the designed nonlinear sliding mode controller.

  7. Robust delay-dependent feedforward control of neutral time-delay systems via dynamic IQCs

    Science.gov (United States)

    Ucun, L.; Küçükdemiral, I. B.

    2014-05-01

    This paper studies the design problem of delay-dependent ? based robust and optimal feedforward controller design for a class of time-delay control systems having state, control and neutral type delays which are subject to norm-bounded uncertainties and ? type measurable or observable disturbance signals. Two independent loops which include state-feedback and dynamic feedforward controller form the basis of the proposed control scheme in this study. State-feedback controller is generally used in stabilisation of the nominal delay-free system, whereas the feedforward controller is used for improving disturbance attenuation performance of the overall system. In order to obtain less conservative results, the delay and parametric uncertainty effects are treated in operator view point and represented by frequency-dependent (dynamic) integral quadratic constraints (IQCs). Moreover, sufficient delay-dependent criterion is developed in terms of linear matrix inequalities (LMIs) such that the time-delay system having parametric uncertainties is guaranteed to be asymptotically stable with minimum achievable disturbance attenuation level. Plenty of numerical examples are provided at the end, in order to illustrate the efficiency of the proposed technique. The achieved results on minimum achievable disturbance attenuation level and maximum allowable delay bounds are exhibited to be less conservative in comparison to those of controllers having only feedback loop.

  8. Analysis and optimization of delays in networked control systems

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    The minimization problem of time delays in networked control system (NCS) is concered, which is a hot area of such research field. First, some analysis and comments on time-delayed NCS model listed in previous work are given.Then, time delay minimization problem based on average behavior of network queuing delay is presented. Under fixed routing scheme and certain optimization performance indexes, the delay minimization problem is translated into convex optimization problem. And the solution of the delay minimization problems is attained through optimized allocation of flow rates among network links.

  9. Delay in diagnostic workup and treatment of esophageal cancer

    NARCIS (Netherlands)

    B.A. Grotenhuis (Brechtje); P. van Hagen (Pieter); B.P.L. Wijnhoven (Bas); V.M.C.W. Spaander (Manon); H.W. Tilanus (Hugo); J.J-B. van Lanschot (Jan)

    2010-01-01

    textabstractIntroduction: Esophageal cancer should preferably be detected and treated at an early stage, but this may be prohibited by late onset of symptoms and delays in referral, diagnostic workup, and treatment. The aim of this study was to investigate the impact of these delays on outcome in pa

  10. Controller Design for a Teleoperation System with Time Delay

    Institute of Scientific and Technical Information of China (English)

    SHE Jun; JIAO Shou-jiang; LUO Xiao-yuan; GUAN Xin-ping

    2005-01-01

    A robust controller design method is presented to guarantee the stability and zero tracking error for teleoperation system with time delay. Through choosing appropriate master and slave parameters, extended state equation about master and master-slave error is achieved, which can be analyzed by using time delay knowledge. Thus delay-independent and delay-dependent criteria are derived in terms of the Lyapunov stability theorem, control parameters are obtained by the feasible of linear matrix inequalities. Experimental results show the validity of these approaches and the performance of master and slave manipulators with delay variations is analyzed.

  11. Do health systems delay the treatment of poor children?

    DEFF Research Database (Denmark)

    Samuelsen, Helle; Tersbøl, Britt Pinkowski; Mbuyita, Selemani Said

    2013-01-01

    Child mortality remains one of the major public-health problems in Tanzania. Delays in receiving and accessing adequate care contribute to these high rates. The literature on public health often focuses on the role of mothers in delaying treatment, suggesting that they contact the health system too...... late and that they prefer to treat their children at home, a perspective often echoed by health workers. Using the three-delay methodology, this study focus on the third phase of the model, exploring the delays experienced in receiving adequate care when mothers with a sick child contact a health...

  12. Impulsive control of time-delay systems using delayed impulse and its application to impulsive master-slave synchronization

    Energy Technology Data Exchange (ETDEWEB)

    Sun Jitao [Department of Mathematics, Tongji University, Shanghai 200092 (China); Centre for Intelligent and Networked Systems, Central Queensland University, Rockhampton Qld 4702 (Australia); Han Qinglong [Centre for Intelligent and Networked Systems, Central Queensland University, Rockhampton Qld 4702 (Australia); School of Computing Sciences, Central Queensland University, Rockhampton Qld 4702 (Australia)], E-mail: q.han@cqu.edu.au; Jiang Xiefu [Centre for Intelligent and Networked Systems, Central Queensland University, Rockhampton Qld 4702 (Australia); School of Automation, Hangzhou Dianzi University, Hangzhou 310018, Zhejiang (China)

    2008-10-13

    This Letter is concerned with impulsive control of a class of nonlinear time-delay systems. Some uniform stability criteria for the closed-loop time-delay system under delayed impulsive control are derived by using piecewise Lyapunov functions. Then the criteria are applied to impulsive master-slave synchronization of some secure communication systems with transmission delays and sample delays under delayed impulsive control. Two numerical examples are given to illustrate the effectiveness of the derived results.

  13. Impulsive control of nonlinear systems with time-varying delays

    Institute of Scientific and Technical Information of China (English)

    Yu Yong-Bin; Bao Jing-Fu; Zhang Hong-Bin; Zhong Qi-Shui; Liao Xiao-Feng; Yu Jue-Sang

    2008-01-01

    A whole impulsive control scheme of nonlinear systems with time-varying delays, which is an extension for impulsive control of nonlinear systems without time delay, is presented in this paper. Utilizing the Lyapunov functions and the impulsive-type comparison principles, we establish a series of different conditions under which impulsively controlled nonlinear systems with time-varying delays are asymptotically stable. Then we estimate upper bounds of impulse interval and time-varying delays for asymptotically stable control. Finally a numerical example is given to illustrate the effectiveness of the method.

  14. Stabilizing unstable steady states using multiple delay feedback control.

    Science.gov (United States)

    Ahlborn, Alexander; Parlitz, Ulrich

    2004-12-31

    Feedback control with different and independent delay times is introduced and shown to be an efficient method for stabilizing fixed points (equilibria) of dynamical systems. In comparison to other delay based chaos control methods multiple delay feedback control is superior for controlling steady states and works also for relatively large delay times (sometimes unavoidable in experiments due to system dead times). To demonstrate this approach for stabilizing unstable fixed points we present numerical simulations of Chua's circuit and a successful experimental application for stabilizing a chaotic frequency doubled Nd-doped yttrium aluminum garnet laser.

  15. Clinical Effects of Gemifloxacin on the Delay of Tuberculosis Treatment

    Science.gov (United States)

    Kim, Seo Yun; Yim, Jae-Joon; Park, Jong Sun; Park, Sung Soo; Heo, Eun Young; Lee, Chang-Hoon; Chung, Hee Soon

    2013-01-01

    Although gemifloxacin has low in vitro activity against Mycobacterium tuberculosis, the effect of gemifloxacin on the delay of tuberculosis (TB) treatment has not been validated in a clinical setting. The study group included patients with culture-confirmed pulmonary TB who initially received gemifloxacin for suspected community-acquired pneumonia (CAP). Two control groups contained patients treated with other fluoroquinolones or nonfluoroquinolone antibiotics. Sixteen cases were treated with gemifloxacin for suspected CAP before TB diagnosis. Sixteen and 32 patients were treated with other fluoroquinolones and nonfluoroquinolones, respectively. The median period from the initiation of antibiotics to the administration of anti-TB medication was nine days in the gemifloxacin group, which was significantly different from the other fluoroquinolones group (35 days). The median times for the nonfluoroquinolone group and the gemifloxacin group were not significantly different. There were no significant differences between the gemifloxacin and other fluoroquinolone group in terms of symptomatic and radiographic improvements. However, the frequency of radiographic improvement in the other fluoroquinolones group tended to be higher than in the gemifloxacin group. Gemifloxacin might be the preferred fluoroquinolone for treating CAP, to alleviate any concerns about delaying TB treatment. PMID:23486643

  16. Factors associated with delays in treatment initiation after tuberculosis diagnosis in two districts of India.

    Directory of Open Access Journals (Sweden)

    Durba Paul

    Full Text Available BACKGROUND: Excessive time between diagnosis and initiation of tuberculosis (TB treatment contributes to ongoing TB transmission and should be minimized. In India, Revised National TB Control Programme (RNTCP focuses on indicator start of treatment within 7 days of diagnosis for patients with sputum smear-positive PTB for monitoring DOTS implementation. OBJECTIVES: To determine length of time between diagnosis and initiation of treatment and factors associated with delays of more than 7 days in smear-positive pulmonary TB. METHODS: Using existing programme records such as the TB Register, treatment cards, and the laboratory register, we conducted a retrospective cohort study of all patients with smear-positive pulmonary TB registered from July-September 2010 in two districts in India. A random sample of patients with pulmonary TB who experienced treatment delay of more than 7 days was interviewed using structured questionnaire. RESULTS: 2027 of 3411 patients registered with pulmonary TB were smear-positive. 711(35% patients had >7 days between diagnosis and treatment and 262(13% had delays >15 days. Mean duration between TB diagnosis and treatment initiation was 8 days (range = 0-128 days. Odds of treatment delay >7 days was 1.8 times more likely among those who had been previously treated (95% confidence interval [CI] 1.5-2.3 and 1.6 (95% CI 1.3-1.8 times more likely among those diagnosed in health facilities without microscopy centers. The main factors associated with a delay >7 days were: patient reluctance to start a re-treatment regimen, patients seeking second opinions, delay in transportation of drugs to the DOT centers and delay in initial home visits. To conclude, treatment delay >7 days was associated with a number of factors that included history of previous treatment and absence of TB diagnostic services in the local health facility. Decentralized diagnostic facilities and improved referral procedures may reduce such treatment

  17. Solving Nonlinear Time Delay Control Systems by Fourier series

    Directory of Open Access Journals (Sweden)

    Mohammad Hadi Farahi

    2014-06-01

    Full Text Available In this paper we present a method to find the solution of time-delay optimal control systems using Fourier series. The method is based upon expanding various time functions in the system as their truncated Fourier series. Operational matrices of integration and delay are presented and are utilized to reduce the solution of time-delay control systems to the solution of algebraic equations. Illustrative examples are included to demonstrate the validity and applicability of the technique.

  18. Adaptive modification of the delayed feedback control algorithm with a continuously varying time delay

    Energy Technology Data Exchange (ETDEWEB)

    Pyragas, V. [Semiconductor Physics Institute, Center for Physical Sciences and Technology, A. Gostauto 11, LT-01108 Vilnius (Lithuania); Pyragas, K. [Semiconductor Physics Institute, Center for Physical Sciences and Technology, A. Gostauto 11, LT-01108 Vilnius (Lithuania)

    2011-10-24

    We propose a simple adaptive delayed feedback control algorithm for stabilization of unstable periodic orbits with unknown periods. The state dependent time delay is varied continuously towards the period of controlled orbit according to a gradient-descent method realized through three simple ordinary differential equations. We demonstrate the efficiency of the algorithm with the Roessler and Mackey-Glass chaotic systems. The stability of the controlled orbits is proven by computation of the Lyapunov exponents of linearized equations. -- Highlights: → A simple adaptive modification of the delayed feedback control algorithm is proposed. → It enables the control of unstable periodic orbits with unknown periods. → The delay time is varied continuously according to a gradient descend method. → The algorithm is embodied by three simple ordinary differential equations. → The validity of the algorithm is proven by computation of the Lyapunov exponents.

  19. Delayed Random Walks: Modeling Human Posture Control

    Science.gov (United States)

    Ohira, Toru

    1998-03-01

    We consider a phenomenological description of a noisy trajectory which appears on a stabiliogram platform during human postural sway. We hypothesize that this trajectory arises due to a mixture of uncontrollable noise and a corrective delayed feedback to an upright position. Based on this hypothesis, we model the process with a biased random walk whose transition probability depends on its position at a fixed time delay in the past, which we call a delayed random walk. We first introduce a very simple model (T. Ohira and J. G. Milton, Phys.Rev.E. 52), 3277, (1995), which can nevertheless capture the rough qualitative features of the two--point mean square displacement of experimental data with reasonable estimation of delay time. Then, we discuss two approaches toward better capturing and understanding of the experimental data. The first approach is an extension of the model to include a spatial displacement threshold from the upright position below which no or only weak corrective feedback motion takes place. This can be incorporated into an extended delayed random walk model. Numerical simulations show that this extended model can better capture the three scaling region which appears in the two--point mean square displacement. The other approach studied the autocorrelation function of the experimental data, which shows oscillatory behavior. We recently investigated a delayed random walk model whose autocorrelation function has analytically tractable oscillatory behavior (T. Ohira, Phys.Rev.E. 55), R1255, (1997). We discuss how this analytical understanding and its application to delay estimation (T. Ohira and R. Sawatari, Phys.Rev.E. 55), R2077, (1997) could possibly be used to further understand the postural sway data.

  20. Delay-dependent stability and stabilization criteria of networked control systems with multiple time-delays

    Institute of Scientific and Technical Information of China (English)

    Huaicheng YAN; Xinhan HUANG; Min WANG

    2006-01-01

    This paper deals with the problem of delay-dependent stability and stabilization for networked control systems(NCSs)with multiple time-delays. In view of multi-input and multi-output(MIMO) NCSs with many independent sensors and actuators, a continuous time model with distributed time-delays is proposed. Utilizing the Lyapunov stability theory combined with linear matrix inequalities(LMIs) techniques, some new delay-dependent stability criteria for NCSs in terms of generalized Lyapunov matrix equation and LMIs are derived. Stabilizing controller via state feedback is formulated by solving a set of LMIs. Compared with the reported methods, the proposed methods give a less conservative delay bound and more general results. Numerical example and simulation show that the methods are less conservative and more effective.

  1. Design and analysis of clinical trials in the presence of delayed treatment effect.

    Science.gov (United States)

    Sit, Tony; Liu, Mengling; Shnaidman, Michael; Ying, Zhiliang

    2016-05-20

    In clinical trials with survival endpoint, it is common to observe an overlap between two Kaplan-Meier curves of treatment and control groups during the early stage of the trials, indicating a potential delayed treatment effect. Formulas have been derived for the asymptotic power of the log-rank test in the presence of delayed treatment effect and its accompanying sample size calculation. In this paper, we first reformulate the alternative hypothesis with the delayed treatment effect in a rescaled time domain, which can yield a simplified sample size formula for the log-rank test in this context. We further propose an intersection-union test to examine the efficacy of treatment with delayed effect and show it to be more powerful than the log-rank test. Simulation studies are conducted to demonstrate the proposed methods. Copyright © 2016 John Wiley & Sons, Ltd.

  2. Time-delayed autosynchronous swarm control.

    Science.gov (United States)

    Biggs, James D; Bennet, Derek J; Dadzie, S Kokou

    2012-01-01

    In this paper a general Morse potential model of self-propelling particles is considered in the presence of a time-delayed term and a spring potential. It is shown that the emergent swarm behavior is dependent on the delay term and weights of the time-delayed function, which can be set to induce a stationary swarm, a rotating swarm with uniform translation, and a rotating swarm with a stationary center of mass. An analysis of the mean field equations shows that without a spring potential the motion of the center of mass is determined explicitly by a multivalued function. For a nonzero spring potential the swarm converges to a vortex formation about a stationary center of mass, except at discrete bifurcation points where the center of mass will periodically trace an ellipse. The analytical results defining the behavior of the center of mass are shown to correspond with the numerical swarm simulations.

  3. Pinning-controlled synchronization of delayed neural networks with distributed-delay coupling via impulsive control.

    Science.gov (United States)

    He, Wangli; Qian, Feng; Cao, Jinde

    2017-01-01

    This paper investigates pinning synchronization of coupled neural networks with both current-state coupling and distributed-delay coupling via impulsive control. A novel impulse pinning strategy involving pinning ratio is proposed and a general criterion is derived to ensure an array of neural networks with two different topologies synchronizes with the desired trajectory. In order to handle the difficulties of high-dimension criteria, some inequality techniques and matrix decomposition methods through simultaneous diagonalization of two matrices are introduced and low-dimensional criteria are obtained. Finally, an illustrative example is given to show the effectiveness of the proposed method. Copyright © 2016 Elsevier Ltd. All rights reserved.

  4. Delay-dependent robust H∞ control for uncertain discrete time-delay fuzzy systems

    Institute of Scientific and Technical Information of China (English)

    Gong Cheng; Su Baoku

    2009-01-01

    The robust H∞ control problem of norm bounded uncertain discrete Takagi-Sugeno (T-S) fuzzy tems with state delay is addressed. First, by constructing an appropriate basis-dependent Lyapunov-Krasovskii function, a new delay-dependent sufficient condition on robust H∞-disturbance attenuation is presented, in which both robust stability and prescribed H∞ performance are guaranteed to be achieved. Then based on the condition, a delay-dependent robust H∞ controller design scheme is developed in term of a convex algorithm. Finally, examples are given to illustrate the effectiveness of the proposed method.

  5. Treatment delay period: the case of arsenicosis in rural Bangladesh.

    Science.gov (United States)

    Paul, Bimal Kanti; Brock, Vicki L Tinnon

    2006-12-01

    Arsenic concentrations of tubewell water that exceed acceptable limits poses a serious health problem in Bangladesh. Many Bangladeshis are now suffering from arsenic-related diseases. The objectives of this paper are to examine the extent of delay in seeking medical treatment by victims of arsenic poisoning and to identify factors contributing to this delay. Questionnaire survey successfully administered to 663 victims living in two rural areas of Bangladesh provided the major data source for this study. Analysis of survey data reveal that median delay period was 12 months, but the delay period ranged from 1 month to 18 years. Because of this extremely large range, the mean delay period was about 22 months. The study identified time of identification of symptoms of arsenicosis as the most significant determinant of treatment delay followed by treatment sought from members of mobile medical teams, perceived threat, and level of education. Based on the study findings, it is recommended that the Bangladesh government and NGOs involved in arsenic mitigation and prevention efforts should educate individuals at risk for arsenic poisoning about the benefits of seeking early treatment. This study also recommends to continue to dispatch mobile medical teams to the arsenic-impacted areas.

  6. Delays in the diagnosis and treatment of tuberculosis patients in Vietnam: a cross-sectional study

    Directory of Open Access Journals (Sweden)

    Khanh Vu T

    2007-06-01

    Full Text Available Abstract Background Treatment delay is an important indicator of access to tuberculosis diagnosis and treatment. Analyses of patient delay (i.e. time interval between onset of symptoms and first consultation of a health care provider and health care delay (i.e. time interval between first consultation and start of treatment can inform policies to improve access. This study assesses the patient, health care provider and total delay in diagnosis and treatment of new smear-positive pulmonary tuberculosis patients, and the risk factors for long delay, in Vietnam. Methods A cross-sectional survey of new patients treated by the National Tuberculosis Control Programme was conducted in 70 randomly selected districts in Vietnam. All consecutively registered patients in one quarter of 2002 were interviewed using a pre-coded structured questionnaire. Results Median (range delay was 4 weeks (1–48 for total, 3 (1–48 weeks for patient and 1 (0–25 week for health care delay. Patients with long total delay (≥ 12 weeks, 15% accounted for 49% of the cumulative number of delay-weeks. Independent risk factors (p 5 km distance from a health facility or in the northern area. For long health care delay (≥ 6 weeks this was urban setting, residence in the central area and initial visit to a communal health post, TB hospital or the private sector. Conclusion Analyses of patient and treatment delays can indicate target groups and areas for health education and strengthening of the referral system, in particular between the private sector and the NTP.

  7. Uniformed model of networked control systems with long time delay

    Institute of Scientific and Technical Information of China (English)

    Zhu Qixin; Liu Hongli; Hu Shousong

    2008-01-01

    Feedback control systems wherein the control loops are closed through a real-time network are called networked control systems (NCS). The defining feature of an NCS is that information is exchanged using a network among control system components. Two new concepts including long time delay and short time delay are proposed.The sensor is almost always clock driven. The controller or the actuator is either clock driven or event driven. Four possible driving modes of networked control systems are presented. The open loop mathematic models of networked control systems with long time delay are developed when the system is driven by anyone of the four different modes.The uniformed modeling method of networked control systems with long time delay is proposed. The simulation results are given in the end.

  8. Approximate controllability of neutral functional differential system with unbounded delay

    Directory of Open Access Journals (Sweden)

    Jong Yeoul Park

    2001-01-01

    Full Text Available We consider a class of control systems governed by the neutral functional differential equation with unbounded delay and study the approximate controllability of the system. An example is given to illustrate the result.

  9. Long-term melatonin treatment delays ovarian aging.

    Science.gov (United States)

    Tamura, Hiroshi; Kawamoto, Mai; Sato, Shun; Tamura, Isao; Maekawa, Ryo; Taketani, Toshiaki; Aasada, Hiromi; Takaki, Eiichi; Nakai, Akira; Reiter, Russel J; Sugino, Norihiro

    2017-03-01

    Ovarian aging is characterized by gradual declines in oocyte quantity and quality. Melatonin is considered an anti-aging agent due to its cytoprotective actions as an antioxidant. This study examined whether long-term melatonin treatment would delay ovarian aging in mice. Female ICR mice (10 weeks old) were given melatonin-containing water (100 μg/mL; melatonin) or water only until 43 weeks of age. Their oocytes were recovered from the oviduct, and in vitro fertilization was performed. The ovaries were used for a histological analysis of the number of follicles. The mRNA expression of the aging-related sirtuin genes (SIRT1, SIRT3) and the autophagy-related gene (LC3) and the telomere length of the ovarian chromosomes were analyzed. Transcriptome changes in the ovaries were also characterized using microarray. The number of ovulated oocytes decreased with age; however, it was greater in melatonin-treated mice than that from control animals. The decreased fertilization rate and blastocyst rate during aging also were higher in the melatonin-treated mice than in the controls, as were the numbers of primordial, primary, and antral follicles. The mRNA expression of SIRT1 and LC3 and telomere length were enhanced due to melatonin treatment. Seventy-eight genes that were downregulated during aging and upregulated by melatonin were identified by a microarray analysis. Forty of these 78 genes were ribosome-related genes, and a free radical scavenging network was identified. The present results indicate that melatonin delays ovarian aging by multiple mechanisms including antioxidant action, maintaining telomeres, stimulating SIRT expression and ribosome function, and by reducing autophagy. © 2016 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

  10. A novel design for randomized immuno-oncology clinical trials with potentially delayed treatment effects

    Directory of Open Access Journals (Sweden)

    Pei He

    2015-10-01

    Full Text Available The semi-parametric proportional hazards model is widely adopted in randomized clinical trials with time-to-event outcomes, and the log-rank test is frequently used to detect a potential treatment effect. Immuno-oncology therapies pose unique challenges to the design of a trial as the treatment effect may be delayed, which violates the proportional hazards assumption, and the log-rank test has been shown to markedly lose power under the non-proportional hazards setting. A novel design and analysis approach for immuno-oncology trials is proposed through a piecewise treatment effect function, which is capable of detecting a potentially delayed treatment effect. The number of events required for the trial will be determined to ensure sufficient power for both the overall log-rank test without a delayed effect and the test beyond the delayed period when such a delay exists. The existence of a treatment delay is determined by a likelihood ratio test with resampling. Numerical results show that the proposed design adequately controls the Type I error rate, has a minimal loss in power under the proportional hazards setting and is markedly more powerful than the log-rank test with a delayed treatment effect.

  11. Delayed bracket placement in orthodontic treatment

    Directory of Open Access Journals (Sweden)

    Chandra Wigati

    2008-12-01

    Full Text Available Background: Beside bracket position, the timing of bracket placement is one of the most essential in orthodontic treatment with fixed appliances. Even it seems simple the timing of bracket placement can be crucial and significantly influence the result of orthodontic treatment. However it is often found brackets are placed without complete understanding of its purpose and effects, which could be useless and even detrimental for the case. Purpose: The aim of this case report is to show that the timing of bracket placement could be different depending on the cases. Case: Five different cases are presented here with different timing of bracket placement. Case management: On these cases, brackets were placed on the upper arch first, on the lower arch first, or even only on some teeth first. Good and efficient orthodontic treatment results were achieved. Conclusion: For every orthodontic case, from the very beginning of treatment, bracket should be placed with the end result in mind. If brackets are correctly placed at a correct time, better treatment result could be achieved without unnecessary round tripping tooth movement.

  12. Delay-dependent robust stability of uncertain networked control systems with multiple state time-delays

    Institute of Scientific and Technical Information of China (English)

    Huaicheng YAN; Xinhan HUANG; Min WANG

    2007-01-01

    In this paper, delay-dependent robust stability for a class of uncertain networked control systems (NCSs)with multiple state time-delays is investigated. Modeling of multi-input and multi-output (MIMO) NCSs with networkinduced delays and uncertainties through new methods are proposed. Some new stability criteria in terms of LMIs are derived by using Lyapunov stability theory combined with linear matrix inequalities (LMIs) techniques. We analyze the delay-dependent asymptotic stability and obtain maximum allowable delay bound (MADB) for the NCSs with the proposed methods. Compared with the reported results, the proposed results obtain a much less conservative MADB which are more general. Numerical example and simulation is used to illustrate the effectiveness of the proposed methods.

  13. Stability Analysis of Uncertain Discrete Time-Delay Control Systems

    Institute of Scientific and Technical Information of China (English)

    Long Xuming; Duan Ping

    2006-01-01

    Based on Lyapunov stability theory, a less conservative sufficient conditions for the stabilities of uncertain discrete delay-independent and delay-dependent control systems are obtained by using the linear matrix inequality (LMI) approach. Judgement of the stability of time-delay systems is transformed to judgement of the feasible solution of an LMI, and hence is solved by use of MATLAB. Numerical simulations verify the validity of the proposed method.

  14. Predictive wavefront control for adaptive optics with arbitrary control loop delays.

    Science.gov (United States)

    Poyneer, Lisa; Véran, Jean-Pierre

    2008-07-01

    We present a modification of the closed-loop state space model for adaptive optics control that allows delays that are a noninteger multiple of the system frame rate. We derive the new forms of the predictive Fourier control Kalman filters for arbitrary delays and show that they are linear combinations of the whole-frame delay terms. This structure of the controller is independent of the delay. System stability margins and residual error variance both transition gracefully between integer-frame delays.

  15. Logistic map with a delayed feedback: Stability of a discrete time-delay control of chaos.

    Science.gov (United States)

    Buchner, T; Zebrowski, J J

    2001-01-01

    The logistic map with a delayed feedback is studied as a generic model. The stability of the model and its bifurcation scheme is analyzed as a function of the feedback amplitude and of the delay. Stability analysis is performed semianalytically. A relation between the delay and the periodicity of the orbit, which explains why some terms used in chaos control are ineffective, was found. The consequences for chaos control are discussed. The structure of bifurcations is found to depend strongly on the parity and on the length of the delay. Boundary crisis, the tangent, the Neimark, as well as the period-doubling bifurcations occur in this system. The effective dimension of the model is also discussed.

  16. Networked Control System Time-Delay Compensation Based on Time-Delay Prediction and Improved Implicit GPC

    OpenAIRE

    Zhong-Da Tian; Shu-Jiang Li; Yan-Hong Wang; Hong-Xia Yu

    2015-01-01

    The random time delay in a networked control system can usually deteriorate the control performance and stability of the networked control system. In order to solve this problem, this paper puts forward a networked control system random time-delay compensation method based on time-delay prediction and improved implicit generalized predictive control (GPC). The least squares support vector machine is used to predict the future time delay of network. The parameters of the least squares support...

  17. Low-complexity controllers for time-delay systems

    CERN Document Server

    Özbay, Hitay; Bonnet, Catherine; Mounier, Hugues

    2014-01-01

    This volume in the newly established series Advances in Delays and Dynamics (ADD@S) provides a collection of recent results on the design and analysis of Low Complexity Controllers for Time Delay Systems. A widely used indirect method to obtain low order controllers for time delay systems is to design a controller for the reduced order model of the plant. In the dual indirect approach, an infinite dimensional controller is designed first for the original plant model; then, the controller is approximated by keeping track of the degradation in performance and stability robustness measures. The present volume includes new techniques used at different stages of the indirect approach. It also includes new direct design methods for fixed structure and low order controllers. On the other hand, what is meant by low complexity controller is not necessarily low order controller. For example, Smith predictor or similar type of controllers include a copy of the plant internally in the controller, so they are technically ...

  18. Switched Control of a Time Delayed Compass Gait Robot

    Directory of Open Access Journals (Sweden)

    Elyes Maherzi

    2016-07-01

    Full Text Available the analysis and control of delayed systems are becoming more and more research topics in progress. This is mainly due to the fact that the delay is frequently encountered in technological systems. Most control command laws are based on current digital computers and delays are intrinsic to the process or in the control loop caused by the transmission time control sequences, or computing time. In other hand, the controls of humanoid walking robot present a common problem in robotics because it involves physical interaction between an articulated system and its environment. This close relationship is actually a common set of fundamental problems such as the implementation of robust stable dynamic control. This paper presents acomplete approach, based on switched system theory, for the stabilization of a compass gait robot subject to time delays transmission. The multiple feedback gains designed are based on multiple linear systems governed by a switching control law. The establishment of control law in real time is affected by the unknown pounded random delay. The results obtained from this method show that the control law stabilize the compass robot walk despite a varying delay reaching six times sampling period.

  19. On pole-placement controllers for linear time-delay systems with commensurate point delays

    Directory of Open Access Journals (Sweden)

    de la Sen M.

    2005-01-01

    Full Text Available We investigate the exact and approximate spectrum assignment properties associated with realizable output-feedback pole-placement-type controllers for single-input single-output linear time-invariant time-delay systems with commensurate point delays. The controller synthesis problem is discussed through the solvability of a set of coupled Diophantine equations of polynomials. An extra complexity is incorporated in the above design to cancel extra unsuitable dynamics being generated when solving the above Diophantine equations. Thus, the complete controller tracks any arbitrary prefixed (either finite or delay-dependent closed-loop spectrum. However, if the controller is simplified by deleting the above-mentioned extra complexity, then robust stability and approximated spectrum assignment are still achievable for a certain sufficiently small amount of delayed dynamics. Finally, the approximate spectrum assignment and robust stability problems are revisited under plant disturbances if the nominal controller is maintained. In the current approach, the finite spectrum assignment is only considered as a particular case of the designer's choice of a (delay-dependent arbitrary spectrum assignment objective.

  20. Effect of Mixed Traffic Flow on Control Delay at Signalized ...

    African Journals Online (AJOL)

    Effect of Mixed Traffic Flow on Control Delay at Signalized Intersections. ... Journal of Civil Engineering Research and Practice ... There are several methods available for operational analysis including mathematical models and traffic ...

  1. An adaptive robust controller for time delay maglev transportation systems

    Science.gov (United States)

    Milani, Reza Hamidi; Zarabadipour, Hassan; Shahnazi, Reza

    2012-12-01

    For engineering systems, uncertainties and time delays are two important issues that must be considered in control design. Uncertainties are often encountered in various dynamical systems due to modeling errors, measurement noises, linearization and approximations. Time delays have always been among the most difficult problems encountered in process control. In practical applications of feedback control, time delay arises frequently and can severely degrade closed-loop system performance and in some cases, drives the system to instability. Therefore, stability analysis and controller synthesis for uncertain nonlinear time-delay systems are important both in theory and in practice and many analytical techniques have been developed using delay-dependent Lyapunov function. In the past decade the magnetic and levitation (maglev) transportation system as a new system with high functionality has been the focus of numerous studies. However, maglev transportation systems are highly nonlinear and thus designing controller for those are challenging. The main topic of this paper is to design an adaptive robust controller for maglev transportation systems with time-delay, parametric uncertainties and external disturbances. In this paper, an adaptive robust control (ARC) is designed for this purpose. It should be noted that the adaptive gain is derived from Lyapunov-Krasovskii synthesis method, therefore asymptotic stability is guaranteed.

  2. Immediate versus delayed treatment for recently symptomatic carotid artery stenosis

    Directory of Open Access Journals (Sweden)

    Vladimir Vasconcelos

    Full Text Available ABSTRACT BACKGROUND: The timing of surgery for recently symptomatic carotid artery stenosis remains controversial. Early cerebral revascularization may prevent a disabling or fatal ischemic recurrence, but it may also increase the risk of hemorrhagic transformation, or of dislodging a thrombus. This review examined the randomized controlled evidence that addressed whether the increased risk of recurrent events outweighed the increased benefit of an earlier intervention. OBJECTIVES: To assess the risks and benefits of performing very early cerebral revascularization (within two days compared with delayed treatment (after two days for people with recently symptomatic carotid artery stenosis. METHODS: Search methods: We searched the Cochrane Stroke Group Trials Register in January 2016, the Cochrane Central Register of Controlled Trials (CENTRAL; The Cochrane Library 2016, issue 1, MEDLINE (1948 to 26 January 2016, EMBASE (1974 to 26 January 2016, LILACS (1982 to 26 January 2016, and trial registers (from inception to 26 January 2016. We also handsearched conference proceedings and journals, and searched reference lists. There were no language restrictions. We contacted colleagues and pharmaceutical companies to identify further studies and unpublished trials Selection criteria: All completed, truly randomized trials (RCT that compared very early cerebral revascularization (within two days with delayed treatment (after two days for people with recently symptomatic carotid artery stenosis. Data collection and analysis: We independently selected trials for inclusion according to the above criteria, assessed risk of bias for each trial, and performed data extraction. We utilized an intention-to-treat analysis strategy. MAIN RESULTS: We identified one RCT that involved 40 participants, and addressed the timing of surgery for people with recently symptomatic carotid artery stenosis. It compared very early surgery with surgery performed after 14 days of

  3. Hopf bifurcation control for a class of delay differential systems with discrete-time delayed feedback controller

    Science.gov (United States)

    Su, Huan; Mao, Xuerong; Li, Wenxue

    2016-11-01

    This paper is concerned with the asymptotical stabilization for a class of unstable delay differential equations. Continuous-time delayed feedback controller (C-TDFC) and discrete-time delayed feedback controller (D-TDFC) are presented and studied, respectively. To our best knowledge, applying Hopf bifurcation theory to delay differential equations with D-TDFC is original and meaningful. The difficulty brought by the introduction of sampling period has been overcome. An effective control range which ensures the asymptotical stability of equilibrium for the system with C-TDFC is obtained. Sequently, another effective control range for the system with D-TDFC is gotten, which approximates the one of C-TDFCS provided that the sampling period is sufficiently small. Meanwhile, efforts are paid to estimate a bound on sampling period. Finally, the theoretical results are applied to a physiological system to illustrate the effectiveness of the two control ranges.

  4. Cervical carcinoma during pregnancy : outcome of planned delay in treatment

    NARCIS (Netherlands)

    van Loon, AJ; ten Hoor, KA; Boonstra, J.

    1998-01-01

    Objective: To assess maternal mortality after delayed treatment for invasive carcinoma of the uterine cervix during pregnancy and to improve fetal outcome. Study Design: Invasive cervical cancer was diagnosed in 12 pregnant women between 1 January 1977 and 1 January 1996. The medical records were ex

  5. Coagulation syndrome: Delayed perforation after colorectal endoscopic treatments

    Institute of Scientific and Technical Information of China (English)

    Kingo; Hirasawa; Chiko; Sato; Makomo; Makazu; Hiroaki; Kaneko; Ryosuke; Kobayashi; Atsushi; Kokawa; Shin; Maeda

    2015-01-01

    Various procedure-related adverse events related to colonoscopic treatment have been reported. Previous studies on the complications of colonoscopic treatment have focused primarily on perforation or bleeding. Coagulation syndrome(CS), which is synonymous with transmural burn syndrome following endoscopic treatment, is another typical adverse event. CS is the result of electrocoagulation injury to the bowel wall that induces a transmural burn and localized peritonitis resulting in serosal inflammation. CS occurs after polypectomy, endoscopic mucosal resection(EMR), and even endoscopic submucosal dissection(ESD). The occurrence of CS after polypectomy or EMR varies according previous reports; most report an occurrence rate around 1%. However, artificial ulcers after ESD are largely theoretical, and CS following ESD was reported in about 9% of cases, which is higher than that for CS after polypectomy or EMR. Most cases of post-polypectomy syndrome(PPS) have an excellent prognosis, and they are managed conservatively with medical therapy. PPS rarely develops into delayed perforation. Delayed perforation is a severe adverse event that often requires emergency surgery. Since few studies have reported on CS and delayed perforation associated with CS, we focused on CS after colonoscopic treatments in this review. Clinicians should consider delayed perforation in CS patients.

  6. Cervical carcinoma during pregnancy : outcome of planned delay in treatment

    NARCIS (Netherlands)

    van Loon, AJ; ten Hoor, KA; Boonstra, J.

    1998-01-01

    Objective: To assess maternal mortality after delayed treatment for invasive carcinoma of the uterine cervix during pregnancy and to improve fetal outcome. Study Design: Invasive cervical cancer was diagnosed in 12 pregnant women between 1 January 1977 and 1 January 1996. The medical records were ex

  7. Optimal Control Strategies in Delayed Sharing Information Structures

    CERN Document Server

    Nayyar, Ashutosh; Teneketzis, Demosthenis

    2010-01-01

    The $n$-step delayed sharing information structure is investigated. This information structure comprises of $K$ controllers that share their information with a delay of $n$ time steps. This information structure is a link between the classical information structure, where information is shared perfectly between the controllers, and a non-classical information structure, where there is no "lateral" sharing of information among the controllers. Structural results for optimal control strategies for systems with such information structures are presented. A sequential methodology for finding the optimal strategies is also derived. The solution approach provides an insight for identifying structural results and sequential decomposition for general decentralized stochastic control problems.

  8. Congestion control algorithm in large-delay uncertain networks

    Institute of Scientific and Technical Information of China (English)

    Fengjie YIN; Yuanwei JING; Yuanjiu GONG

    2007-01-01

    Based on Smith-fuzzy controller,a new active queue management(AQM)algorithm adaptable to the large-delay uncertain networks is presented.It can compensate the negative impact on the queue stability caused by the large delay,and it also maintains strong robustness under the condition of dynamic network fluid.Its stability is proven through Lyapunov method.Simulation results demonstrated that this method enables the queue length to converge at a preset value quickly and keeps the queue oscillation small.the simulation results also show that the scheme is very robust to disturbance under various network conditions and large delay and,in particular,the algorithm proposed outperforms the conventional PI control and fuzzy control when the network parameters and network delay change.

  9. POLE PLACEMENT CONTROLLERS FOR LINEAR TIME-DELAY SYSTEMS WITH COMMENSURATE POINT DELAYS

    Institute of Scientific and Technical Information of China (English)

    M. de la Sen

    2004-01-01

    This paper investigates the exact and approximate spectrum assignment properties associated with realizable output-feedback pole-placement type controllers for single-input single-output linear time-invariant time-delay systems with commensurate point delays. The controller synthesis problem is discussed through the solvability of a set of coupled diophantine equations of polynomials. An extra complexity is incorporated to the above design to cancel extra unsuitable dynamics being generated when solving the above diophantine equations. Thus, the complete controller tracks any arbitrary prefixed (either finite or delaydependent) closed-loop spectrum. However, if the controller is simplified by deleting the above mentioned extra complexity, then the robust stability and approximated spectrum assignment are still achievable for a certain sufficiently small amount of delayed dynamics. Finally, the approximate spectrum assignment and robust stability problems are revisited under plant disturbances if the nominal controller is maintained. In the current approach, the finite spectrum assignment is only considered as a particular case to the designer's choice of a (delay-dependent) arbitrary spectrum assignment objective.

  10. Distributed Optimal Consensus Control for Multiagent Systems With Input Delay.

    Science.gov (United States)

    Zhang, Huaipin; Yue, Dong; Zhao, Wei; Hu, Songlin; Dou, Chunxia

    2017-06-27

    This paper addresses the problem of distributed optimal consensus control for a continuous-time heterogeneous linear multiagent system subject to time varying input delays. First, by discretization and model transformation, the continuous-time input-delayed system is converted into a discrete-time delay-free system. Two delicate performance index functions are defined for these two systems. It is shown that the performance index functions are equivalent and the optimal consensus control problem of the input-delayed system can be cast into that of the delay-free system. Second, by virtue of the Hamilton-Jacobi-Bellman (HJB) equations, an optimal control policy for each agent is designed based on the delay-free system and a novel value iteration algorithm is proposed to learn the solutions to the HJB equations online. The proposed adaptive dynamic programming algorithm is implemented on the basis of a critic-action neural network (NN) structure. Third, it is proved that local consensus errors of the two systems and weight estimation errors of the critic-action NNs are uniformly ultimately bounded while the approximated control policies converge to their target values. Finally, two simulation examples are presented to illustrate the effectiveness of the developed method.

  11. Patient delay is the main cause of treatment delay in acute limb ischemia: an investigation of pre- and in-hospital time delay

    DEFF Research Database (Denmark)

    Londero, Louise Skovgaard; Nørgaard, Birgitte; Houlind, Kim Christian

    2014-01-01

    Abstract BACKGROUND: The prognosis of acute limb ischemia is severe, with amputation rates of up to 25% and in-hospital mortality of 9-15%. Delay in treatment increases the risk of major amputation and may be present at different stages, including patient delay, doctors´ delay and waiting time...... in the emergency department. It is important to identify existing problems in order to reduce time delay. The aim of this study was to collect data for patients with acute limb ischemia and to evaluate the time delay between the different events from onset of symptoms to specialist evaluation and further treatment...... with focus on pre-hospital and in-hospital time delays. METHODS: We conducted a prospective cross-sectional cohort study including all patients suspected with acute limb ischemia who were admitted to the emergency department of a community hospital in a six months period. Temporal delay in the different...

  12. Control of spatially patterned synchrony with multisite delayed feedback

    OpenAIRE

    Hauptmann, C.; Omelchenko, O.; Popovych, O. V.; Maistrenko, Y.; Tass, P.A.

    2007-01-01

    We present an analytical study describing a method for the control of spatiotemporal patterns of synchrony in networks of coupled oscillators. Delayed feedback applied through a small number of electrodes effectively induces spatiotemporal dynamics at minimal stimulation intensities. Different arrangements of the delays cause different spatial patterns of synchrony, comparable to central pattern generators (CPGs), i.e., interacting clusters of oscillatory neurons producing patterned output, e...

  13. Control of time stability of scintillation spectrometer of delayed coincidences

    CERN Document Server

    Morozov, V A

    2002-01-01

    Paper describes a system to control time stability of a two-detector plastic scintillation spectrometer of three-dimensional coincides. A two-reference control system incorporates a light guide base delay optical line, two light diodes and a two-channel generator of nanosecond pulses. A distinguishing feature of the design system is application of one delay line to form both advance and delay time signal as to the real coincidences in the studied radioactive source. The designed system of control enables to measure periods of half-decay of nuclei excited states within 40-100 ns range ensuring control of position of coincidence curve gravity centers within 4 ps limits

  14. Effect of early or delayed treatment upon healing of mandibular fractures: a systematic literature review

    DEFF Research Database (Denmark)

    Hermund, Niels Ulrich; Hillerup, Søren; Kofod, Thomas

    2008-01-01

    The possible relation between treatment delay and healing complications in mandibular fracture treatment (excluding condylar fractures) was reviewed systematically. Twenty-two studies were identified. No randomized studies focused on the effect of immediate or delayed treatment. The main focus...

  15. Fuzzy controller design for networked control system with time-variant delays

    Institute of Scientific and Technical Information of China (English)

    Li Zhang; Fang Huajing

    2006-01-01

    Networked control system is new hot-point in control engineering. A new delayed model for networked control systems is presented, based on which an LQR controller is designed. A method of delays estimation online is also given.For the difficulty on implementation of LQR in NCSs with time-variant delays, the Mamdani intelligent logic with LQR controller is addressed. The stability of the networked control system is also given. Simulation results prove that the novel controller can make the system stable and robustly preserve the performance in terms of time-variant delays.

  16. EFFECT OF ICE BAG, DYNAMIC STRETCHING AND COMBINED TREATMENTS ON THE PREVENTION AND TREATMENT OF DELAY ONSET MUSCLE SORENESS

    OpenAIRE

    Warin Krityakiarana; Jariya Budworn; Chatchawan Khajohnanan; Nutchanad Suramas; Watcharaporn Puritasang

    2014-01-01

    Objective: To investigate the effects of ice bag, dynamic stretching, combined ice and dynamic stretching, and control (non-treated) on the prevention and treatment of delayed onset muscle soreness (DOMS) in biceps muscle. Subjects: Fifty-five participants (aged 18 to 25 years) were engaged in this study and randomly assigned into four groups (control group (non-treated) (CG), n = 13; ice bag, n = 14; dynamic stretching, n = 14; and combined treatment, n = 14). Method: Before inducing D...

  17. Stabilizing control for a class of delay unstable processes.

    Science.gov (United States)

    Lee, See Chek; Wang, Qing-Guo; Nguyen, Le Binh

    2010-07-01

    The stabilization of unstable first-order plus time-delay processes with a zero by means of simple controllers is investigated in detail. Explicit stabilizability conditions are established. And the computational methods for determining stabilizing controller parameters are also presented with illustrative examples.

  18. Controlling Beam Halo-Chaos via Time-Delayed Feedback

    Institute of Scientific and Technical Information of China (English)

    FANG Jin-Qing; WENG Jia-Qiang; ZHU Lun-Wu; LUO Xiao-Shu

    2004-01-01

    The study of controlling high-current proton beam halo-chaos has become a key concerned issue for many important applications. In this paper, time-delayed feedback control method is proposed for beam halo-chaos. Particle in cell simulation results show that the method is very effective and has some advantages for high-current beam experiments and engineering.

  19. Stability analysis in a car-following model with reaction-time delay and delayed feedback control

    Science.gov (United States)

    Jin, Yanfei; Xu, Meng

    2016-10-01

    The delayed feedback control in terms of both headway and velocity differences has been proposed to guarantee the stability of a car-following model including the reaction-time delay of drivers. Using Laplace transformation and transfer function, the stable condition is derived and appropriate choices of time delay and feedback gains are designed to stabilize traffic flow. Meanwhile, an upper bound on explicit time delay is determined with respect to the response of desired acceleration. To ensure the string stability, the explicit time delay cannot over its upper bound. Numerical simulations indicate that the proposed control method can restraint traffic congestion and improve control performance.

  20. Backstepping tracking control for nonlinear time-delay systems

    Institute of Scientific and Technical Information of China (English)

    Chen Weisheng; Li Junmin

    2006-01-01

    Two design approaches of state feedback and output feedback tracking controllers are proposed for a class of strict feedback nonlinear time-delay systems by using backstepping technique. When the states of system cannot be observed, the time-delay state observer is designed to estimate the system states. Domination method is used to deal with nonlinear time-delay function under the assumption that the nonlinear time-delay functions of systems satisfy Lipschitz condition. The global asymptotical tracking of the references signal is achieved and the bound of all signals of the resultant closed-loop system is also guaranteed. By constructing a Lyapunov-Krasoviskii functional, the stability of the closed-loop system is proved. The feasibility of the proposed approach is illustrated by a simulation example.

  1. State Predictive Model Following Control System for Linear Time Delays

    Institute of Scientific and Technical Information of China (English)

    Da-Zhong Wang; Shu-Jing Wu; Shigenori Okubo

    2009-01-01

    In this paper, we propose a new state predictive model following control system (MFCS). The considered system has linear time delays. With the MFCS method, we obtain a simple input control law. The bounded property of the internal states for the control is given and the utility of this control design is guaranteed. Finally, an example is given to illustrate the effectiveness of the proposed method.

  2. Predictive wavefront control for Adaptive Optics with arbitrary control loop delays

    Energy Technology Data Exchange (ETDEWEB)

    Poyneer, L A; Veran, J

    2007-10-30

    We present a modification of the closed-loop state space model for AO control which allows delays that are a non-integer multiple of the system frame rate. We derive the new forms of the Predictive Fourier Control Kalman filters for arbitrary delays and show that they are linear combinations of the whole-frame delay terms. This structure of the controller is independent of the delay. System stability margins and residual error variance both transition gracefully between integer-frame delays.

  3. Robust Delay-dependent H∞ Consensus Control for Multi-agent Systems with Input Delays

    Institute of Scientific and Technical Information of China (English)

    LI Zhen-Xing; JI Hai-Bo

    2014-01-01

    This paper investigates the consensus control for multi-agent systems subject to external disturbances, input delays and model uncertainties of networks. By defining an appropriate controlled output, we transform this question into a robust H∞control problem. Then, we give two criteria to judge the consensusability of closed-loop multi-agent systems and present a cone-complementary linearization algorithm to get the state feedback controller′s parameters. Finally, numerical examples are given to show the effectiveness of the proposed consensus protocols.

  4. Modified active disturbance rejection control for time-delay systems.

    Science.gov (United States)

    Zhao, Shen; Gao, Zhiqiang

    2014-07-01

    Industrial processes are typically nonlinear, time-varying and uncertain, to which active disturbance rejection control (ADRC) has been shown to be an effective solution. The control design becomes even more challenging in the presence of time delay. In this paper, a novel modification of ADRC is proposed so that good disturbance rejection is achieved while maintaining system stability. The proposed design is shown to be more effective than the standard ADRC design for time-delay systems and is also a unified solution for stable, critical stable and unstable systems with time delay. Simulation and test results show the effectiveness and practicality of the proposed design. Linear matrix inequality (LMI) based stability analysis is provided as well.

  5. Robust H∞ Control of Uncertain T-S Fuzzy Time-Delay System: A Delay Decomposition Approach

    OpenAIRE

    Cheng Gong; Chunsong Han

    2013-01-01

    This paper is concerned with the problem of robust H∞ control for a class of uncertain time-delay fuzzy systems with norm-bounded parameter uncertainties. By utilizing the instrumental idea of delay decomposition, the decomposed Lyapunov-Krasovskii functional is introduced to uncertain T-S fuzzy system, and some delay-dependent conditions for the existence of robust controller are formulated in the form of linear matrix inequalities (LMIs). When these LMIs are feasible, a controller is presen...

  6. Adaptive control for a class of discrete-time time-delay systems with regard to delay parameter

    Institute of Scientific and Technical Information of China (English)

    Chai Lin; Cheng Ming; Fei Shumin; Zhai Junyong

    2009-01-01

    The memory state feedback control problem for a class of discrete-time systems with input delay and unknown state delay is addressed based on LMIs and Lyapunov-Krasovskii functional method. Under the action of our designed adaptive control law, the unknown time-delay parameter is included in memory state feedback controller. Using LMI technique, delay-dependent sufficient conditions for the existence of the feedback controller are obtained. Finally, the effectiveness of the proposed design method is demonstrated by a numerical example.

  7. Adaptive control method for nonlinear time-delay processes

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Two complex properties,varying time-delay and block-oriented nonlinearity,are very common in chemical engineering processes and not easy to be controlled by routine control methods.Aimed at these two complex properties,a novel adaptive control algorithm the basis of nonlinear OFS(orthonormal functional series) model is proposed.First,the hybrid model which combines OFS and Volterra series is introduced.Then,a stable state feedback strategy is used to construct a nonlinear adaptive control algorithm that can guarantee the closed-loop stability and can track the set point curve without steady-state errors.Finally,control simulations and experiments on a nonlinear process with varying time-delay are presented.A number of experimental results validate the efficiency and superiority of this algorithm.

  8. A Sliding Mode Control for Uncertain Time-delay Systems

    Institute of Scientific and Technical Information of China (English)

    WU Jun-sheng; WENG Zheng-xin; TIAN Zuo-hua; SHI Song-jiao

    2008-01-01

    By means of the feasibility of some linear matrix inequalities (LMIs), delay dependeat sufficient condition is derived for the existence of a linear sliding surface, which guarantees quadratic stability of the reduced-order equivalent system restricted to the sliding surface. And a reaching motion controller is proposed. A numerical simulation shows the effectiveness of the approach.

  9. Control of delay dominant systems with costs related to switching

    DEFF Research Database (Denmark)

    Deng, Honglian; Larsen, Lars Finn Sloth; Stoustrup, Jakob

    2010-01-01

    The objective of this paper is to extend a novel low complexity method for optimizing switch control developed by the authors earlier to work with delay dominant systems and demonstrate that the method works in practice with a refrigeration test system. The extended method solves switching problems...

  10. A Control Scheme Based on Online Delay Evaluation for a Class of Networked Control Systems

    Institute of Scientific and Technical Information of China (English)

    马向华; 谢剑英; 魏震

    2004-01-01

    A control scheme that integrates control technology with communication technology to solve the delay problem is introduced for a class of networked control systems: Networked Half-Link Systems (NHLS). Concretely, we use the master-slave clock synchronization technology to evaluate the delays online, and then the LQ optimal control based on delays is adopted to stabilize the controlled plant. During the clock synchronization process, the error of evaluated delays is inevitably induced from the clock synchronization error, which will deteriorate the system performances, and even make system unstable in certain cases. Hence, the discussions about the clock error, and the related control analysis and design are also developed. Specifically, we present the sufficient conditions of controller parameters that guarantee the system stability, and a controller design method based on the error of delays is addressed thereafter. The experiments based on a CANbus platform are fulfilled, and the experimental results verify the previous analytic results finally.

  11. Finite-Dimensional Representations for Controlled Diffusions with Delay

    Energy Technology Data Exchange (ETDEWEB)

    Federico, Salvatore, E-mail: salvatore.federico@unimi.it [Università di Milano, Dipartimento di Economia, Management e Metodi Quantitativi (Italy); Tankov, Peter, E-mail: tankov@math.univ-paris-diderot.fr [Université Paris Diderot, Laboratoire de Probabilités et Modèles Aléatoires (France)

    2015-02-15

    We study stochastic delay differential equations (SDDE) where the coefficients depend on the moving averages of the state process. As a first contribution, we provide sufficient conditions under which the solution of the SDDE and a linear path functional of it admit a finite-dimensional Markovian representation. As a second contribution, we show how approximate finite-dimensional Markovian representations may be constructed when these conditions are not satisfied, and provide an estimate of the error corresponding to these approximations. These results are applied to optimal control and optimal stopping problems for stochastic systems with delay.

  12. Approximate Controllability of Fractional Neutral Stochastic System with Infinite Delay

    Science.gov (United States)

    Sakthivel, R.; Ganesh, R.; Suganya, S.

    2012-12-01

    The concept of controllability plays an important role in analysis and design of linear and nonlinear control systems. Further, fractional differential equations have wide applications in engineering and science. In this paper, the approximate controllability of neutral stochastic fractional integro-differential equation with infinite delay in a Hilbert space is studied. By using Krasnoselskii's fixed point theorem with stochastic analysis theory, we derive a new set of sufficient conditions for the approximate controllability of nonlinear fractional stochastic system under the assumption that the corresponding linear system is approximately controllable. Finally, an example is provided to illustrate the obtained theory.

  13. Global satisfactory control for nonlinear integrator processes with long delay

    Institute of Scientific and Technical Information of China (English)

    Yiqun YANG; Guobo XIANG

    2007-01-01

    Integrator processes with long delay are difficult to control. Nonlinear characteristics of actuators make the control problem more challenging. A technique is proposed in this paper for global satisfactory control (GSC) of such processes with relay-type nonlinearity. An oscillatory control signal is injected into the nonlinear process; the amplitude and frequency of the oscillatory signal are designed to linearise the nonlinear process in the sense of harmonic analysis; and a state feedback controller is configured to implement GSC over the linearised process. An illustrative example is given to demonstrate the effectiveness of the proposed method.

  14. Controller design for TS models using delayed nonquadratic Lyapunov functions.

    Science.gov (United States)

    Lendek, Zsofia; Guerra, Thierry-Marie; Lauber, Jimmy

    2015-03-01

    In the last few years, nonquadratic Lyapunov functions have been more and more frequently used in the analysis and controller design for Takagi-Sugeno fuzzy models. In this paper, we developed relaxed conditions for controller design using nonquadratic Lyapunov functions and delayed controllers and give a general framework for the use of such Lyapunov functions. The two controller design methods developed in this framework outperform and generalize current state-of-the-art methods. The proposed methods are extended to robust and H∞ control and α -sample variation.

  15. Connected cruise control: modelling, delay effects, and nonlinear behaviour

    Science.gov (United States)

    Orosz, Gábor

    2016-08-01

    Connected vehicle systems (CVS) are considered in this paper where vehicles exchange information using wireless vehicle-to-vehicle (V2V) communication. The concept of connected cruise control (CCC) is established that allows control design at the level of individual vehicles while exploiting V2V connectivity. Due to its high level of modularity the proposed design can be applied to large heterogeneous traffic systems. The dynamics of a simple CVS is analysed in detail while taking into account nonlinearities in the vehicle dynamics as well as in the controller. Time delays that arise due to intermittencies and packet drops in the communication channels are also incorporated. The results are summarised using stability charts which allow one to select control gains to maintain stability and ensure disturbance attenuation when the delay is below a critical value.

  16. Determination of Optimal Control Strength of Delayed Feedback Control Using Time Series

    Institute of Scientific and Technical Information of China (English)

    YIN Hua-Wei; LU Wei-Ping; WANG Peng-Ye

    2004-01-01

    @@ We study controlling chaos using time-delayed feedback control based on chaotic time series without prior knowl edge of dynamical systems, and determine the optimal control parameters for stabilizing unstable periodic orbits with maximal stability.

  17. On Tuning PI Controllers for Integrating Plus Time Delay Systems

    Directory of Open Access Journals (Sweden)

    David Di Ruscio

    2010-10-01

    Full Text Available Some analytical results concerning PI controller tuning based on integrator plus time delay models are worked out and presented. A method for obtaining PI controller parameters, Kp=alpha/(k*tau, and, Ti=beta*tau, which ensures a given prescribed maximum time delay error, dtau_max, to time delay, tau, ratio parameter delta=dau_max/tau, is presented. The corner stone in this method, is a method product parameter, c=alpha*beta. Analytical relations between the PI controller parameters, Ti, and, Kp, and the time delay error parameter, delta, is presented, and we propose the setting, beta=c/a*(delta+1, and, alpha=a/(delta+1, which gives, Ti=c/a*(delta+1*tau, and Kp=a/((delta+1*k*tau, where the parameter, a, is constant in the method product parameter, c=alpha*beta. It also turns out that the integral time, Ti, is linear in, delta, and the proportional gain, Kp, inversely proportional to, delta+1. For the original Ziegler Nichols (ZN method this parameter is approximately, c=2.38, and the presented method may e.g., be used to obtain new modified ZN parameters with increased robustness margins, also documented in the paper.

  18. Multiple delay Roessler system-Bifurcation and chaos control

    Energy Technology Data Exchange (ETDEWEB)

    Ghosh, Dibakar [High Energy Physics Division, Department of Physics, Jadavpur University, SC Mallick Road, Kolkata 700032, West Bengal (India)], E-mail: drghosh_chaos@yahoo.com; Chowdhury, A. Roy [High Energy Physics Division, Department of Physics, Jadavpur University, SC Mallick Road, Kolkata 700032, West Bengal (India)], E-mail: asesh_r@yahoo.com; Saha, Papri [Department of Physics, B.P. Poddar Institute of Management and Technology, 137 V.I.P Road, Poddar Vihar, Kolkata 700052 (India)], E-mail: papri_saha@yahoo.com

    2008-02-15

    Multiple delayed Roessler system is analyzed from the view point of stability and chaos control. Usually these systems occur in active sensing problems where a signal is transmitted and received at a later time. Analytical and numerical results are obtained from the basic characteristic equation, using the Routh-Hurwitz criterion and Sturm sequences. The bifurcation pattern as the delay increases is displayed in detail, finally leading to chaos. In the second half we analyze the structure of the unstable periodic orbits and construct the controller which gets back the system to periodic state. Quantitative measure of the accuracy of the computation is obtained through the use of conditional Lyapunov exponent. At this point a Galerkin projection technique is used, which sets up a system of ODE in place of the delayed system, and makes the computation much simpler. Importance of this analysis is due to the role of the delay terms in the generation of the attractor, various bifurcation scenario, along with their control.

  19. Axo: Masking Delay Faults in Real-Time Control Systems

    OpenAIRE

    Maaz, Mashood Mohiuddin; Saab, Wajeb; Bliudze, Simon; Le Boudec, Jean-Yves

    2016-01-01

    We consider real-time control systems that consist of a controller that computes and sends setpoints to be implemented in physical processes through process agents. We focus on systems that use commercial off-the-shelf hardware and software components. Setpoints of these systems have strict real-time constraints: Implementing a setpoint after its deadline, or not receiving setpoints within a deadline, can cause failure. In this paper, we address delay faults: faults that cause setpoints to vi...

  20. A survey on delayed feedback control of chaos

    Institute of Scientific and Technical Information of China (English)

    Yuping TIAN; Jiandong ZHU; Guanrong CHEN

    2005-01-01

    This paper introduces the basic idea and provides the mathematical formulation of the delayed feedback control (DFC) methodology, which has been widely used in chaos control. Stability analysis including the well-known odd number limitation of the DFC is reviewed. Some new developments in characterizing the limitation of the DFC are presented. Various modified DFC methods, which are developed in order to overcome the odd number limitation, are also described. Finally, some open problems in this research field are discussed.

  1. Trajectory controllability of semilinear systems with multiple variable delays in control

    Energy Technology Data Exchange (ETDEWEB)

    Klamka, Jerzy, E-mail: Jerzy.Klamka@polsl.pl, E-mail: Michal.Niezabitowski@polsl.pl; Niezabitowski, Michał, E-mail: Jerzy.Klamka@polsl.pl, E-mail: Michal.Niezabitowski@polsl.pl [Silesian University of Technology, Faculty of Automatic Control, Electronics and Computer Science, Institute of Automatic Control, 16 Akademicka Street, 44-101 Gliwice (Poland)

    2014-12-10

    In this paper, finite-dimensional dynamical control system described by semilinear differential state equation with multiple variable delays in control are considered. The concept of controllability we extend on trajectory controllability for systems with multiple point delays in control. Moreover, remarks and comments on the relationships between different concepts of controllability are presented. Finally, simple numerical example, which illustrates theoretical considerations is also given. The possible extensions are also proposed.

  2. Analysis and control of issues that delay pharmaceutical projects

    Directory of Open Access Journals (Sweden)

    Nallam Sai Nandeswara Rao

    2015-10-01

    Full Text Available Every project will have certain objectives and service levels to be achieved. The success of a project depends on several dimensions like time, cost/budget, quality, etc. and managing a project involves completing the project within time, within budget and with quality to satisfy the users. Because of the significance of health, pharmaceutical companies realized the importance of project management methods and techniques to make available the life saving drugs in time to the needy patients and hospitals. In literature, there is meager information about pharmaceutical project management oriented towards analysis of issues and factors that contribute to the failure or success of projects. This study attempts to analyse different issues that contribute to time delays in pharmaceutical product-based projects, group them under a finite set of prominent factors and identify remedial measures to control those delays. The feedback of project people of some big pharmaceutical firms of Indian sub-continent was collected for this purpose. Exploratory factor analysis (EFA has been used to reduce the reasons for time delays to a limited number of prominent factors and the EFA model has been further examined by confirmatory factor analysis (CFA for its validation. Remedial measures under each factor of time delays have been gathered and a framework designed to mitigate the time delays in pharmaceutical projects. The derived factors that delay the pharmaceutical projects include resource, monitoring & control, scheduling and planning problems. Important remedial measures like blended resource approach, estimation and forecast of shortage of labour and skills, regular quality training, etc. have been recommended.

  3. Melatonin for chronic whiplash syndrome with delayed melatonin onset randomised, placebo-controlled trial

    NARCIS (Netherlands)

    Wieringen, S. van; Jansen, T.; Smits, M.G.; Nagtegaal, J.E.; Coenen, A.M.L.

    2001-01-01

    Objective: To assess the influence of melatonin in patients with chronic whiplash syndrome and delayed melatonin onset. Design: Randomised, double-blind, placebo-controlled, parallel-group trial. One-week baseline was followed by a 4-week treatment period with either melatonin or placebo. In the ba

  4. Factors Associated with Treatment Delay among Pulmonary Tuberculosis Patients in Public and Private Health Facilities in Addis Ababa, Ethiopia

    Directory of Open Access Journals (Sweden)

    Getinet Shewaseged Adenager

    2017-01-01

    Full Text Available Background. Early detection and diagnosis of tuberculosis (TB and the timely commencement of antituberculosis (anti-TB treatment are the parts of efficient tuberculosis prevention and control program. Delay in the commencement of anti-TB treatment worsens the prognosis and increases the risk of death and the chance of transmission in the community and among health care workers. Objective. To assess tuberculosis treatment delay and associated factors among pulmonary TB patients in Addis Ababa, Ethiopia. Methods. A cross-sectional study was conducted in 10 public and 10 private health facilities that provide TB treatment. The data were collected from 425 newly registered pulmonary TB patients using pretested structured questionnaire from April to June 2012. Data were entered in EPI info version 3.5.1 and analyzed using SPSS version 16.0. Findings. The median durations of a patient, health care system, and total treatment delays were 17, 9, and 35 days, respectively. Overall 179 (42.1%, 233 (54.8%, and 262 (61.6% of patients experienced patient delay, health care system delay, and total treatment delay, respectively. Distance more than 2.5 km from TB treatment health facility [AOR = 1.6, 95% CI (1.1–2.5] and the presence of TB-associated stigma [AOR = 2.1, 95% CI (1.3, 3.4] indicate higher odds of patient delay, whereas, being unemployed, patients with the hemoptysis symptom complain indicated lower odds of health care system delay [AOR = 0.41, 95% CI (0.24, 0.70] and [AOR = 0.61 (0.39, 0.94], respectively. Conclusions. A significant proportion of clients experienced patient and health care system delay. Thus, there is a need for designing and implementing appropriate strategies to decrease the delays. Efforts to reduce delays should give focus on integrating prevention programs such as active case detection and expanding access to TB care.

  5. Robust adaptive control for interval time-delay systems

    Institute of Scientific and Technical Information of China (English)

    Yizhong WANG; Huaguang ZHANG; Jun YANG

    2006-01-01

    This paper focuses on the robust adaptive control problems for a class of interval time-delay systems and a class of large-scale interconnected systems. The nonlinear uncertainties of the systems under study are bounded by high-order polynomial functions with unknown gains. Firstly, the adaptive feedback controller which can guarantee the stability of the closed-loop system in the sense of uniform ultimate boundedness is proposed. Then the proposed adaptive idea is extended to robust stabilizing designing method for a class of large-scale interconnected systems. Here, another problem we address is to design a decentralized feedback adaptive controller such that the closed-loop system is stable in the sense of uniform ultimate boundedness for all admissible uncertainties and time-delay. Finally, an illustrative example is given to show the validity of the proposed approach.

  6. H-infty Control of systems with multiple i/o delays

    NARCIS (Netherlands)

    Agoes Ariffin Moelja, A.A.; Meinsma, Gjerrit; Mirkin, Leonid

    2003-01-01

    In this paper the standard (four-block) H-infty control problem for systems with multiple i/o delays in the feedback loop is studied. The central idea is to see the multiple delay operator as a special series connection of elementary delay operators, called the adobe delay operators. The adobe delay

  7. Investigation of a delayed feedback controller of MEMS resonators

    KAUST Repository

    Masri, Karim M.

    2013-08-04

    Controlling mechanical systems is an important branch of mechanical engineering. Several techniques have been used to control Microelectromechanical systems (MEMS) resonators. In this paper, we study the effect of a delayed feedback controller on stabilizing MEMS resonators. A delayed feedback velocity controller is implemented through modifying the parallel plate electrostatic force used to excite the resonator into motion. A nonlinear single degree of freedom model is used to simulate the resonator response. Long time integration is used first. Then, a finite deference technique to capture periodic motion combined with the Floquet theory is used to capture the stable and unstable periodic responses. We show that applying a suitable positive gain can stabilize the MEMS resonator near or inside the instability dynamic pull in band. We also study the stability of the resonator by tracking its basins of attraction while sweeping the controller gain and the frequency of excitations. For positive delayed gains, we notice significant enhancement in the safe area of the basins of attraction. Copyright © 2013 by ASME.

  8. Delayed access to treatments for rare diseases: who's to blame?

    Science.gov (United States)

    Feltmate, Karen; Janiszewski, Peter M; Gingerich, Sheena; Cloutier, Michael

    2015-04-01

    The development and commercialization of drugs for rare diseases, termed 'orphan drugs', has historically been economically unattractive. However, because of the introduction of legislation that provides financial and regulatory incentives for the development of orphan drugs, new developments are making their way through the regulatory approval processes. Unfortunately, delays in availability of new drugs for treating rare disease continue to persist. This paper reviews the approach of several regulatory jurisdictions to orphan drugs in an effort to determine their relative effectiveness in providing patient access. Generally speaking, regulatory authorities across jurisdictions have recognized the need to enhance timely access to safe, effective treatment for patients with rare diseases and have been able to shift the approval timelines for access to new care. The greater impediment to orphan drug access appears to be funding, particularly in publicly sponsored health-care systems. Redundancies in federal and provincial reviews of orphan drugs can result in significant delays in access to new drugs. Clearly, more must be done to accelerate access to the treatments so desperately needed by patients. Public payers must be held accountable for their process and decisions--especially for rare disease therapies.

  9. Pediatric acute otitis media: the case for delayed antibiotic treatment.

    Science.gov (United States)

    Johnson, Nicholas C; Holger, Joel S

    2007-04-01

    Acute otitis media (AOM) is both a commonly diagnosed condition and a frequent indication for antibiotic use in children. Recent literature suggests that antibiotics are not needed in many children with AOM, as most cases resolve spontaneously without complication. However, a majority of AOM infections in children are still treated with antibiotics. The American Academy of Pediatrics and American Academy of Family Physicians released a guideline for treatment of AOM in children. We review the guideline as well as scientific evidence related to AOM treatment options. We support a set of evidence-based guidelines employing a delayed prescription option for antibiotic therapy in selected children. If used appropriately, these cost-effective guidelines will reduce the amount of antibiotics prescribed, increase parental satisfaction, and may lower rates of antibiotic resistance while producing similar rates of resolution of AOM.

  10. Stabilizing model predictive control for constrained nonlinear distributed delay systems.

    Science.gov (United States)

    Mahboobi Esfanjani, R; Nikravesh, S K Y

    2011-04-01

    In this paper, a model predictive control scheme with guaranteed closed-loop asymptotic stability is proposed for a class of constrained nonlinear time-delay systems with discrete and distributed delays. A suitable terminal cost functional and also an appropriate terminal region are utilized to achieve asymptotic stability. To determine the terminal cost, a locally asymptotically stabilizing controller is designed and an appropriate Lyapunov-Krasoskii functional of the locally stabilized system is employed as the terminal cost. Furthermore, an invariant set for locally stabilized system which is established by using the Razumikhin Theorem is used as the terminal region. Simple conditions are derived to obtain terminal cost and terminal region in terms of Bilinear Matrix Inequalities. The method is illustrated by a numerical example.

  11. All-optical noninvasive delayed feedback control of semiconductor lasers

    CERN Document Server

    Schikora, Sylvia

    2013-01-01

    The stabilization of unstable states hidden in the dynamics of a system, in particular the control of chaos, has received much attention in the last years. Sylvia Schikora for the first time applies a well-known control method called delayed feedback control entirely in the all-optical domain. A multisection semiconductor laser receives optical feedback from an external Fabry-Perot interferometer. The control signal is a phase-tunable superposition of the laser signal and provokes the laser to operate in an otherwise unstable periodic state with a period equal to the time delay. The control is noninvasive, because the reflected signal tends to zero when the target state is reached.   The work has been awarded the Carl-Ramsauer-Prize 2012.   Contents ·         All-Optical Control Setup ·         Stable States with Resonant Fabry-Perot Feedback ·         Control of an Unstable Stationary State and of Unstable Selfpulsations ·         Controlling Chaos ·         Con...

  12. Implementation of Nonlinear Control Laws for an Optical Delay Line

    Science.gov (United States)

    Hench, John J.; Lurie, Boris; Grogan, Robert; Johnson, Richard

    2000-01-01

    This paper discusses the implementation of a globally stable nonlinear controller algorithm for the Real-Time Interferometer Control System Testbed (RICST) brassboard optical delay line (ODL) developed for the Interferometry Technology Program at the Jet Propulsion Laboratory. The control methodology essentially employs loop shaping to implement linear control laws. while utilizing nonlinear elements as means of ameliorating the effects of actuator saturation in its coarse, main, and vernier stages. The linear controllers were implemented as high-order digital filters and were designed using Bode integral techniques to determine the loop shape. The nonlinear techniques encompass the areas of exact linearization, anti-windup control, nonlinear rate limiting and modal control. Details of the design procedure are given as well as data from the actual mechanism.

  13. Computation of Stability Delay Margin of Time-Delayed Generator Excitation Control System with a Stabilizing Transformer

    Directory of Open Access Journals (Sweden)

    Saffet Ayasun

    2014-01-01

    Full Text Available This paper investigates the effect of time delays on the stability of a generator excitation control system compensated with a stabilizing transformer known as rate feedback stabilizer to damp out oscillations. The time delays are due to the use of measurement devices and communication links for data transfer. An analytical method is presented to compute the delay margin for stability. The delay margin is the maximum amount of time delay that the system can tolerate before it becomes unstable. First, without using any approximation, the transcendental characteristic equation is converted into a polynomial without the transcendentality such that its real roots coincide with the imaginary roots of the characteristic equation exactly. The resulting polynomial also enables us to easily determine the delay dependency of the system stability and the sensitivities of crossing roots with respect to the time delay. Then, an expression in terms of system parameters and imaginary root of the characteristic equation is derived for computing the delay margin. Theoretical delay margins are computed for a wide range of controller gains and their accuracy is verified by performing simulation studies. Results indicate that the addition of a stabilizing transformer to the excitation system increases the delay margin and improves the system damping significantly.

  14. Receding horizon H∞ control for constrained time-delay systems

    Institute of Scientific and Technical Information of China (English)

    Lu Mei; Jin Chengbo; Shao Huihe

    2009-01-01

    A receding horizon H∞ control algorithm is presented for linear discrete time-delay system in the presence of constrained input and disturbances. Disturbance attenuation level is optimized at each time instant, and the receding optimization problem includes several linear matrix inequality constraints. When the convex hull is applied to denote the saturating input, the algorithm has better performance. The numerical example can verify this result.

  15. The Impact of Delays on Parents' Perceptions of Treatments for Problem Behavior

    Science.gov (United States)

    Call, Nathan A.; Reavis, Andrea R.; McCracken, Courtney E.; Gillespie, Scott E.; Scheithauer, Mindy C.

    2015-01-01

    Parent engagement in behavioral interventions is critical for treatments to succeed. Parental decision-making regarding treatments can be impacted by systematic biases, such as the tendency to discount the value of delayed benefits, or "delay discounting". This study examined the impact of delay discounting on parents' perceptions of…

  16. Robust H∞ Stabilization of Uncertain Linear Time-Delay System with Delayed/Undelayed State Feedback Controllers

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    This paper focuses on the H∞ controller design for linear systems with time-varying delays and norm bounded parameter perturbetions in the system state and control/disturbance. On the existence of delayed/undelayed full state feedback controllers, we present a sufficient condition and give a design method in the form of Riccati equation. The controller can not only stabilize the time-delay system, but also make the H∞ norm of the closed-loop system be less than a given bound. This result practically generalizes the related results in current literature.

  17. Networked Control System Time-Delay Compensation Based on Time-Delay Prediction and Improved Implicit GPC

    Directory of Open Access Journals (Sweden)

    Zhong-Da Tian

    2015-01-01

    Full Text Available The random time delay in a networked control system can usually deteriorate the control performance and stability of the networked control system. In order to solve this problem, this paper puts forward a networked control system random time-delay compensation method based on time-delay prediction and improved implicit generalized predictive control (GPC. The least squares support vector machine is used to predict the future time delay of network. The parameters of the least squares support vector machine time-delay prediction model are difficult to determine, and the genetic algorithm is used for least squares support vector machine optimal prediction parameter optimization. Then, an improved implicit generalized predictive control method is adopted to compensate for the time delay. The simulation results show that the method in this paper has high prediction accuracy and a good compensation effect for the random time delay of the networked control system, has a small amount of on-line calculation and that the output response and control stability of the system are improved.

  18. Controllability and stability of primary frequency control from thermostatic loads with delays

    DEFF Research Database (Denmark)

    Ziras, Charalampos; Vrettos, Evangelos; You, Shi

    2017-01-01

    There is an increasing interest in exploiting the flexibility of loads to provide ancillary services to the grid. In this paper we study how response delays and lockout constraints affect the controllability of an aggregation of refrigerators offering primary frequency control (PFC). First we...... examine the effect of delays in PFC provision from an aggregation of refrigerators, using a two-area power system. We propose a framework to systematically address frequency measurement and response delays and we determine safe values for the total delays via simulations. We introduce a controllability...... index to evaluate PFC provision under lockout constraints of refrigerators compressors. We conduct extensive simulations to study the effects of measurement delay, ramping times, lockout durations and rotational inertia on the controllability of the aggregation and system stability. Finally, we discuss...

  19. Design of Distributed Engine Control Systems with Uncertain Delay.

    Science.gov (United States)

    Liu, Xiaofeng; Li, Yanxi; Sun, Xu

    Future gas turbine engine control systems will be based on distributed architecture, in which, the sensors and actuators will be connected to the controllers via a communication network. The performance of the distributed engine control (DEC) is dependent on the network performance. This study introduces a distributed control system architecture based on a networked cascade control system (NCCS). Typical turboshaft engine-distributed controllers are designed based on the NCCS framework with a H∞ output feedback under network-induced time delays and uncertain disturbances. The sufficient conditions for robust stability are derived via the Lyapunov stability theory and linear matrix inequality approach. Both numerical and hardware-in-loop simulations illustrate the effectiveness of the presented method.

  20. Delay-dependent robust H-infinity control for discrete-time uncertain systems with time-varying state delays

    Institute of Scientific and Technical Information of China (English)

    Xianming ZHANG; Min WU; Jinhua SHE; Dongsheng HAN

    2006-01-01

    This paper examines the delay-dependent H-infinity control problem for discrete-time linear systems with time-varying state delays and norm-bounded uncertainties. A new inequality for the finite sum of quadratic terms is first established. Then, some new delay-dependent criteria are derived by employing the new inequality to guarantee the robust stability of a closed-loop system with a prescribed H-infinity norm bound for all admissible uncertainties and bounded time-vary delays. A numerical example demonstrates that the proposed method is an improvement over existing ones.

  1. Adaptive control of uncertain time-delay chaotic systems

    Institute of Scientific and Technical Information of China (English)

    Zhuhong ZHANG

    2005-01-01

    This work investigates adaptive control of a large class of uncertain me-delay chaotic systems (UTCSs) with unknown general perturbation terms bounded by a polynomial ( unknown gains). Associated with the different cases of known and unknown system matrices, two corresponding adaptive controllers are proposed to stabilize unstable fixed points of the systems by means of Lyapunov stability theory and linear matrix inequalities (LMI) which can be solved easily by convex optimization algorithms. Two examples are used for examining the effectiveness of the proposed methods.

  2. Role of delay and screening in controlling AIDS

    Science.gov (United States)

    Chauhan, Sudipa; Bhatia, Sumit Kaur; Gupta, Surbhi

    2016-06-01

    We propose a non-linear HIV/ AIDS model to analyse the spread and control of HIV/AIDS. The population is divided into three classes, susceptible, infective and AIDS patients. The model is developed under the assumptions of vertical transmission and time delay in infective class. Time delay is also included to show sexual maturity period of infected newborns. We study dynamics of the model and obtain the reproduction number. Now to control the epidemic, we study the model where aware infective class is also added, i.e., people are made aware of their medical status by way of screening. To make the model more realistic, we consider the situation where aware infective class also interacts with other people. The model is analysed qualitatively by stability theory of ODE. Stability analysis of both disease-free and endemic equilibrium is studied based on reproduction number. Also, it is proved that if (R0)1, R1 ≤ 1 then, disease free equilibrium point is locally asymptotically stable and if (R0)1, R1 > 1 then, disease free equilibrium is unstable. Also, the stability analysis of endemic equilibrium point has been done and it is shown that for (R0)1 > 1 endemic equilibrium point is stable. Global stability analysis of endemic equilibrium point has also been done. At last, it is shown numerically that the delay in sexual maturity of infected individuals result in less number of AIDS patients.

  3. Predictive active disturbance rejection control for processes with time delay.

    Science.gov (United States)

    Zheng, Qinling; Gao, Zhiqiang

    2014-07-01

    Active disturbance rejection control (ADRC) has been shown to be an effective tool in dealing with real world problems of dynamic uncertainties, disturbances, nonlinearities, etc. This paper addresses its existing limitations with plants that have a large transport delay. In particular, to overcome the delay, the extended state observer (ESO) in ADRC is modified to form a predictive ADRC, leading to significant improvements in the transient response and stability characteristics, as shown in extensive simulation studies and hardware-in-the-loop tests, as well as in the frequency response analysis. In this research, it is assumed that the amount of delay is approximately known, as is the approximated model of the plant. Even with such uncharacteristic assumptions for ADRC, the proposed method still exhibits significant improvements in both performance and robustness over the existing methods such as the dead-time compensator based on disturbance observer and the Filtered Smith Predictor, in the context of some well-known problems of chemical reactor and boiler control problems.

  4. Treatment for delayed brain injury after pituitary irradiation

    Energy Technology Data Exchange (ETDEWEB)

    Fujii, Takashi; Misumi, Shuzoh; Shibasaki, Takashi; Tamura, Masaru; Kunimine, Hideo; Hayakawa, Kazushige; Niibe, Hideo; Miyazaki, Mizuho; Miyagi, Osamu.

    1988-03-01

    Treatment for delayed brain injury after pituitary irradiation is discussed. Six cases with delayed brain injury were treated with a combination of dexamethasone or betamethasone, with heparin, glycerol, dextran 40 and some vasodilators. Two cases with temporal lobe syndrome were treated in the early stages of brain injury for a period of over 12 months were almost completely cured, another two cases with chiasma syndrome were treated in the relatively late stages, showed a partial improvement. One case which was irradiated 120 GY during 13 years did not improve. The final case treated with steroids for a short period also resulted in failure and the patient underwent an operation for the removal of the necrotic mass three years after the radiotherapy. Steroid therapy started in the early stages of brain injury after irradiation for over the 12 months is thought to be effective. Heparin therapy was also effective in one out of three cases, but in one of the cases subarachnoid hemorrhage from a traumatic aneurysm occurred during the therapy. In an acute phase, showing edematous change of the injured brain, the administration of glycerol is also thought to be useful. But the effectiveness of the other medicines containing some vasodilators was obscure or doubtful. We propose the following : (1) A meticulous observation is essential for the patients who received high doses of irradiation to diagnose brain injury in the early reversible stage. (2) Steroids should be given immediately in this reversible stage of brain injury before the irreversible ''necrosis'' occurs. (3) Steroids should be maintained for a long period over 12 months. (4) Heparin therapy is also thought to be effective, but careful precautions to avoid hemorrhagic complications before the therapy should be scheduled. This recommended plan may also be used for the treatment of brain injuries after cranial irradiation for other intracranial tumors.

  5. The Design of Robust Controller for Networked Control System with Time Delay

    Directory of Open Access Journals (Sweden)

    Zhongda Lu

    2015-01-01

    Full Text Available This paper considers the stability and H∞ control problem of networked control systems with time delay. Taking into account the influence of network with delay, unknown input disturbance, and uncertainties of the system modeling, meanwhile we establish a precise, closed-loop model for networked control systems with time delay. By selecting a proper Lyapunov-Krasovskii function and using Lyapunov theorem, a sufficient condition for stability of the system in the form of LMI is demonstrated, corresponding controller parameters are acquired, and the convergence of the control algorithm is proved. The simulation example shows that the construction of the network robust control system with time delay indeed improves the stability performance of the system, which indicates the effectiveness of the design.

  6. Complex-Vector Time-Delay Control of Power Converters

    DEFF Research Database (Denmark)

    Blaabjerg, Frede; Loh, P. C.; Tang, Y.;

    2008-01-01

    Precise controlling of current produced by power converters is an important topic that has attracted interests over the last few decades. With the recent proliferation of grid-tied converters where the control of power flow is indirectly governed by the accuracy of current tracking, motivation...... to develop dynamically fast and accurate current controllers is even more intensive with more features expected to be embedded within a single control module. Believing in its continual importance, this paper contributes by proposing a complex-vector time-delay control scheme that can achieve high tracking...... precision and disturbance rejection. In principle, the proposed scheme can either be implemented solely in the stationary frame or in a "mixed" stationary and synchronous frame, termed as mixed frame in the paper. Regardless of the frame orientation chosen, the scheme always exhibits ease of implementation...

  7. Engineering Sensorial Delay to Control Phototaxis and Emergent Collective Behaviors

    Science.gov (United States)

    Mijalkov, Mite; McDaniel, Austin; Wehr, Jan; Volpe, Giovanni

    2016-01-01

    Collective motions emerging from the interaction of autonomous mobile individuals play a key role in many phenomena, from the growth of bacterial colonies to the coordination of robotic swarms. For these collective behaviors to take hold, the individuals must be able to emit, sense, and react to signals. When dealing with simple organisms and robots, these signals are necessarily very elementary; e.g., a cell might signal its presence by releasing chemicals and a robot by shining light. An additional challenge arises because the motion of the individuals is often noisy; e.g., the orientation of cells can be altered by Brownian motion and that of robots by an uneven terrain. Therefore, the emphasis is on achieving complex and tunable behaviors from simple autonomous agents communicating with each other in robust ways. Here, we show that the delay between sensing and reacting to a signal can determine the individual and collective long-term behavior of autonomous agents whose motion is intrinsically noisy. We experimentally demonstrate that the collective behavior of a group of phototactic robots capable of emitting a radially decaying light field can be tuned from segregation to aggregation and clustering by controlling the delay with which they change their propulsion speed in response to the light intensity they measure. We track this transition to the underlying dynamics of this system, in particular, to the ratio between the robots' sensorial delay time and the characteristic time of the robots' random reorientation. Supported by numerics, we discuss how the same mechanism can be applied to control active agents, e.g., airborne drones, moving in a three-dimensional space. Given the simplicity of this mechanism, the engineering of sensorial delay provides a potentially powerful tool to engineer and dynamically tune the behavior of large ensembles of autonomous mobile agents; furthermore, this mechanism might already be at work within living organisms such as

  8. Engineering Sensorial Delay to Control Phototaxis and Emergent Collective Behaviors

    Directory of Open Access Journals (Sweden)

    Mite Mijalkov

    2016-01-01

    Full Text Available Collective motions emerging from the interaction of autonomous mobile individuals play a key role in many phenomena, from the growth of bacterial colonies to the coordination of robotic swarms. For these collective behaviors to take hold, the individuals must be able to emit, sense, and react to signals. When dealing with simple organisms and robots, these signals are necessarily very elementary; e.g., a cell might signal its presence by releasing chemicals and a robot by shining light. An additional challenge arises because the motion of the individuals is often noisy; e.g., the orientation of cells can be altered by Brownian motion and that of robots by an uneven terrain. Therefore, the emphasis is on achieving complex and tunable behaviors from simple autonomous agents communicating with each other in robust ways. Here, we show that the delay between sensing and reacting to a signal can determine the individual and collective long-term behavior of autonomous agents whose motion is intrinsically noisy. We experimentally demonstrate that the collective behavior of a group of phototactic robots capable of emitting a radially decaying light field can be tuned from segregation to aggregation and clustering by controlling the delay with which they change their propulsion speed in response to the light intensity they measure. We track this transition to the underlying dynamics of this system, in particular, to the ratio between the robots’ sensorial delay time and the characteristic time of the robots’ random reorientation. Supported by numerics, we discuss how the same mechanism can be applied to control active agents, e.g., airborne drones, moving in a three-dimensional space. Given the simplicity of this mechanism, the engineering of sensorial delay provides a potentially powerful tool to engineer and dynamically tune the behavior of large ensembles of autonomous mobile agents; furthermore, this mechanism might already be at work within

  9. On Time Delay Margin Estimation for Adaptive Control and Optimal Control Modification

    Science.gov (United States)

    Nguyen, Nhan T.

    2011-01-01

    This paper presents methods for estimating time delay margin for adaptive control of input delay systems with almost linear structured uncertainty. The bounded linear stability analysis method seeks to represent an adaptive law by a locally bounded linear approximation within a small time window. The time delay margin of this input delay system represents a local stability measure and is computed analytically by three methods: Pade approximation, Lyapunov-Krasovskii method, and the matrix measure method. These methods are applied to the standard model-reference adaptive control, s-modification adaptive law, and optimal control modification adaptive law. The windowing analysis results in non-unique estimates of the time delay margin since it is dependent on the length of a time window and parameters which vary from one time window to the next. The optimal control modification adaptive law overcomes this limitation in that, as the adaptive gain tends to infinity and if the matched uncertainty is linear, then the closed-loop input delay system tends to a LTI system. A lower bound of the time delay margin of this system can then be estimated uniquely without the need for the windowing analysis. Simulation results demonstrates the feasibility of the bounded linear stability method for time delay margin estimation.

  10. ACTIVE CONTROL OF A FLEXIBLE CANTILEVER PLATE WITH MULTIPLE TIME DELAYS

    Institute of Scientific and Technical Information of China (English)

    Longxiang Chen; Ji Pan; Guoping Cai

    2008-01-01

    Active control of a flexible cantilever plate with multiple time delays is investigated using the discrete optimal control method.A controller with multiple time delays is presented.In this controller,time delay effect is incorporated in the mathematical model of the dynamic system throughout the control design and no approximations and assumptions are made in the controller derivation,so the system stability is easily guaranteed.Furthermore,this controller is available for both small time delays and large time delays.The feasibility and efficiency of the proposed controller are verified through numerical simulations in the end of this paper.

  11. The Impact of Short-Term Video Games on Performance among Children with Developmental Delays: A Randomized Controlled Trial

    OpenAIRE

    Ru-Lan Hsieh; Wen-Chung Lee; Jui-Hsiang Lin

    2016-01-01

    This prospective, randomized controlled study investigated the effects of short-term interactive video game playing among children with developmental delays participating in traditional rehabilitation treatment at a rehabilitation clinic. One hundred and one boys and 46 girls with a mean age of 5.8 years (range: 3 to 12 years) were enrolled in this study. All patients were confirmed to suffer from developmental delays, and were participating in traditional rehabilitation treatment. Children p...

  12. Guaranteed Cost Fault-tolerant Control of Networked Control Systems with Short Output Delay and Short Control Delay Based on State Observer

    Directory of Open Access Journals (Sweden)

    Xiaomao Huang

    2013-04-01

    Full Text Available Supposing that the sensor and controller nodes were time-driven and the actuator node was event-driven, the problem of integrity against sensor failures for the networked control systems with short output delay and short control delay was discussed based on observer. The state observer of the system according to the time-delay compensation strategy was designed. Then, considering possible sensor failures, an augmented mathematic model for the networked control systems based on observer was developed. In terms of the given quadratic performance index function, the integrity condition of the system was given and the designs for guaranteed cost fault-tolerant controller and observer were presented respectively by using the cooperative design approach of the controller and observer and the approach of bilinear matrix inequalities. Finally, a numerical simulation example demonstrated the conclusions are feasible and effective. The proposed control method meets the requirements in industrial networked control systems.

  13. Robust generalized H2 control:time-delay case

    Institute of Scientific and Technical Information of China (English)

    刘飞

    2004-01-01

    Generalized H2 control problem is considered for a class of linear time-delay systems covering linear timeinvariant (LTI) case and time-varying but norm-bounded linear differential inclusion (NLDI) case. The issues focus on the synthesis of so-called generalized H2 controller, which guarantees internal/robust stability and a certain performance level of generalized H2 norm of resulting closed-loop system. By using Lyapunov functional technique, sufficient conditions for the existence of such a kind of controllers are obtained in terms of two linear matrix inequalities (LMIs).In the state space, for memoryless state feedback case, we treat the controller design in a unified framework for both LTI and NLDI. The presented results are illustrated by numerical examples.

  14. Measuring and Modelling Delays in Robot Manipulators for Temporally Precise Control using Machine Learning.

    OpenAIRE

    Andersen, Thomas Timm; Amor, Heni Ben; Andersen, Nils Axel; Ravn, Ole

    2015-01-01

    Latencies and delays play an important role in temporally precise robot control. During dynamic tasks in particular, a robot has to account for inherent delays to reach manipulated objects in time. The different types of occurring delays are typically convoluted and thereby hard to measure and separate. In this paper, we present a data-driven methodology for separating and modelling inherent delays during robot control. We show how both actuation and response delays can be modelled using mode...

  15. Time-delay effects and simplified control fields in quantum Lyapunov control

    Energy Technology Data Exchange (ETDEWEB)

    Yi, X X; Wu, S L [School of Physics and Optoelectronic Technology, Dalian University of Technology, Dalian 116024 (China); Wu, Chunfeng; Feng, X L; Oh, C H, E-mail: yixx@dlut.edu.cn, E-mail: phyohch@nus.edu.sg [Centre for Quantum Technologies and Department of Physics, National University of Singapore, 117543 (Singapore)

    2011-10-14

    Lyapunov-based quantum control has the advantage that it is free from the measurement-induced decoherence and it includes the instantaneous information of the system in the control. The Lyapunov control is often confronted with time delay in the control fields and difficulty in practical implementations of the control. In this paper, we study the effect of time delay on the Lyapunov control and explore the possibility of replacing the control field with a pulse train or a bang-bang signal. The efficiency of the Lyapunov control is also presented through examining the convergence time of the system. These results suggest that the Lyapunov control is robust against time delay, easy to realize and effective for high-dimensional quantum systems.

  16. Dynamic behavior of time-delayed acceleration feedback controller for active vibration control of flexible structures

    Science.gov (United States)

    An, Fang; Chen, Wei-dong; Shao, Min-qiang

    2014-09-01

    This paper addresses the design problem of the controller with time-delayed acceleration feedback. On the basis of the reduction method and output state-derivative feedback, a time-delayed acceleration feedback controller is proposed. Stability boundaries of the closed-loop system are determined by using Hurwitz stability criteria. Due to the introduction of time delay into the controller with acceleration feedback, the proposed controller has the feature of not only changing the mass property but also altering the damping property of the controlled system in the sense of equivalent structural modification. With this feature, the closed-loop system has a greater logarithmic decrement than the uncontrolled one, and in turn, the control behavior can be improved. In this connection, the time delay in the acceleration feedback control is a positive factor when satisfying some given conditions and it could be actively utilized. On the ground of the analysis, the developed controller is implemented on a cantilever beam for different controller gain-delay combinations, and the control performance is evaluated with the comparison to that of pure acceleration feedback controller. Simulation and experimental results verify the ability of the controller to attenuate the vibration resulting from the dominant mode.

  17. Bridging waitlist delays with Interim Buprenorphine Treatment: Initial feasibility

    Science.gov (United States)

    Sigmon, Stacey C.; Meyer, Andrew; Hruska, Bryce; Ochalek, Taylor; Rose, Gail; Badger, Gary J.; Brooklyn, John R.; Heil, Sarah H.; Higgins, Stephen T.; Moore, Brent A.; Schwartz, Robert P.

    2015-01-01

    Despite the effectiveness of agonist maintenance for opioid dependence, individuals can remain on waitlists for months, during which they are at significant risk for morbidity and mortality. Interim dosing, consisting of daily medication without counseling, can reduce these risks. In this pilot study, we examined the initial feasibility of a novel technology-assisted interim buprenorphine treatment for waitlisted opioid-dependent adults. Following buprenorphine induction during Week 1, participants (n=10) visited the clinic at Weeks 2, 4, 6, 8, 10 and 12 to ingest their medication under staff observation, provide a urine specimen and receive their remaining doses via a computerized Med-O-Wheel Secure device. They also received daily monitoring via an Interactive Voice Response (IVR) platform, as well as random call-backs for urinalysis and medication adherence checks. The primary outcome was percent of participants negative for illicit opioids at each 2-week visit, with secondary outcomes of past-month drug use, adherence and acceptability. Participants achieved high levels of illicit opioid abstinence, with 90% abstinent at the Week 2 and 4 visits and 60% at Week 12. Significant reductions were observed in self-reported past-month illicit opioid use (p<.001), opioid withdrawal (p<.001), opioid craving (p<.001) and ASI Drug composite score (p=.008). Finally, adherence with buprenorphine administration (99%), daily IVR calls (97%) and random call-backs (82%) was high. Interim buprenorphine treatment shows promise for reducing patient and societal risks during delays to conventional treatment. A larger-scale, randomized clinical trial is underway to more rigorously examine the efficacy of this treatment approach. PMID:26256469

  18. $H^\\infty$ control of systems with multiple i/o delays

    NARCIS (Netherlands)

    Meinsma, Gjerrit; Mirkin, Leonid

    2003-01-01

    In this paper the standard (four-block) $H^\\infty$ control problem for systems with multiple i/o delays in the feedback loop is studied. The central idea is to see the multiple delay operator as a special series connection of elementary delay operators, called the adobe delay operators. The adobe de

  19. H∞ control of systems with multiple I/O delays via decomposition to adobe problems

    NARCIS (Netherlands)

    Meinsma, Gjerrit; Mirkin, Leonid

    2005-01-01

    The standard (four-block) H/sup /spl infin// control problem for systems with multiple input-output delays in the feedback loop is studied. The central idea is to see the multiple delay operator as a special series connection of elementary delay operators, called the adobe delay operators. The adobe

  20. Delay-dependent H2 control for discrete time-delay systems with D-stability constraints

    Institute of Scientific and Technical Information of China (English)

    Man Sun; Yingmin Jia; Junping Du; Shiying Yuan

    2008-01-01

    This paper studies the problem of H2 control for a class of discrete time-delay systems with D-stability constraints. The corresponding sufficient conditions are given in terms of linear matrix inequalities. In particular, the conditions are delay-dependent, and so they are less conservative. The obtained controller can provide an upper bound for the H2 cost function. A numerical example is given to illustrate the proposed method.

  1. Finite-time robust stabilization of uncertain delayed neural networks with discontinuous activations via delayed feedback control.

    Science.gov (United States)

    Wang, Leimin; Shen, Yi; Sheng, Yin

    2016-04-01

    This paper is concerned with the finite-time robust stabilization of delayed neural networks (DNNs) in the presence of discontinuous activations and parameter uncertainties. By using the nonsmooth analysis and control theory, a delayed controller is designed to realize the finite-time robust stabilization of DNNs with discontinuous activations and parameter uncertainties, and the upper bound of the settling time functional for stabilization is estimated. Finally, two examples are provided to demonstrate the effectiveness of the theoretical results.

  2. Sensor Fault and Delay Tolerant Control for Networked Control Systems Subject to External Disturbances.

    Science.gov (United States)

    Han, Shi-Yuan; Chen, Yue-Hui; Tang, Gong-You

    2017-03-28

    In this paper, the problem of sensor fault and delay tolerant control problem for a class of networked control systems under external disturbances is investigated. More precisely, the dynamic characteristics of the external disturbance and sensor fault are described as the output of exogenous systems first. The original sensor fault and delay tolerant control problem is reformulated as an equivalence problem with designed available system output and reformed performance index. The feedforward and feedback sensor fault tolerant controller (FFSFTC) can be obtained by utilizing the solutions of Riccati matrix equation and Stein matrix equation. Based on the designed fault diagnoser, the proposed FFSFTC is further reconstructed to compensate for the sensor fault and delayed measurement effects. Finally, numerical examples are provided to illustrate the effectiveness of our proposed FFSFTC with different cases with various types of sensor faults, measurement delays and external disturbances.

  3. Motion synchronization in unmanned aircrafts formation control with communication delays

    Science.gov (United States)

    Rezaee, Hamed; Abdollahi, Farzaneh

    2013-03-01

    This paper proposes a formation control strategy for unmanned aircrafts using a virtual structure. Cross coupled sliding mode controllers are introduced to cope with uncertainties in the attitude measurement systems of the unmanned aircrafts and unmeasurable bounded external disturbances such as wind effects, and also to provide motion synchronization in the multi-agent system. This motion synchronization strategy improves the agents convergence to their desired positions, and this is useful for a multi-agent system with faulty agents. Moreover, the proposed motion synchronization strategy is not restricted to specific communication topologies, and sufficient conditions are provided to guarantee the multi-agent system stability in the presence of communication delays. Numerical simulations are presented for a team of five unmanned aircrafts to make a pentagon formation and confirm the accepted performance of the proposed control strategy.

  4. The frequency of missed test results and associated treatment delays in a highly computerized health system

    OpenAIRE

    2007-01-01

    Abstract Background: Diagnostic errors associated with the failure to follow up on abnormal diagnostic studies ("missed results") are a potential cause of treatment delay and a threat to patient safety. Few data exist concerning the frequency of missed results and associated treatment delays within the Veterans Health Administration (VA). Objective: The primary objective of the current study was to assess the frequency of missed results and resulting treatment delays encountered by primary ca...

  5. Hot water treatments delay cold-induced banana peel blackening

    NARCIS (Netherlands)

    Promyou, S.; Ketsa, S.; Doorn, van W.G.

    2008-01-01

    Banana fruit of cv. Gros Michel (Musa acuminata, AAA Group, locally called cv. Hom Thong) and cv. Namwa (Musa x paradisiaca, ABB Group) were immersed for 5, 10 and 15 min in water at 42 degrees C, or in water at 25 degrees C (control), and were then stored at 4 degrees C. Hot water treatment for 15

  6. Perceptions on the Effectiveness of Treatment and the Timeline of Buruli Ulcer Influence Pre-Hospital Delay Reported by Healthy Individuals

    NARCIS (Netherlands)

    Alferink, Marike; van der Werf, Tjip S.; Sopoh, Ghislain E.; Agossadou, Didier C.; Barogui, Yves T.; Assouto, Frederic; Agossadou, Chantal; Stewart, Roy E.; Stienstra, Ymkje; Ranchor, Adelita V.

    2013-01-01

    Background: Delay in seeking treatment at the hospital is a major challenge in current Buruli ulcer control; it is associated with severe sequelae and functional limitations. Choosing alternative treatment and psychological, social and practical factors appear to influence delay. Objectives were to

  7. Feedback control of time-delay systems with bounded control and state

    Directory of Open Access Journals (Sweden)

    M. Dambrine

    1995-01-01

    Full Text Available This paper is concerned with the problem of stabilizing linear time-delay systems under state and control linear constraints. For this, necessary and sufficient conditions for a given non-symmetrical polyhedral set to be positively invariant are obtained. Then existence conditions of linear state feedback control law respecting the constraints are established, and a procedure is given in order to calculate such a controller. The paper concerns memoryless controlled systems but the results can be applied to cases of delayed controlled systems. An example is given.

  8. Delay-dependent robust H∞ control of convex polyhedral uncertain fuzzy systems

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    The robust H∞ control problem for a class of uncertain Takagi-Sugeno fuzzy systems with time-varying state delays is studied. The uncertain parameters are supposed to reside in a polytope. Based on the delay-dependent Lyapunov functional method, a new delay-dependent robust H∞ fuzzy controller, which depends on the size of the delays and the derivative of the delays, is presented in term of linear matrix inequalities (LMIs). For all admissible uncertainties and delays, the controller guarantees not only the asymptotic stability of the system but also the prescribed H∞ attenuation level. In addition, the effectiveness of the proposed design method is demonstrated by a numerical example.

  9. Delayed puberty and hypogonadotropic hypogonadism. Differential diagnosis and treatment

    NARCIS (Netherlands)

    Snoep, Marinus Cornelis

    1978-01-01

    This thesis describes a method enabling a prospecrive differential diagnosis to be made berween delayed puberty (DP) and hypogonadotropic hypogonadism (HH). The influence of androgen administration on the gonadal feedback sysrem of patients with delayed puberty was also studied. ... Zie: Summary

  10. Controllability of time-delayed Boolean multiplex control networks under asynchronous stochastic update

    Science.gov (United States)

    Luo, Chao; Wang, Xingyuan; Liu, Hong

    2014-01-01

    In this article, the controllability of asynchronous Boolean multiplex control networks (ABMCNs) with time delay is studied. Firstly, dynamical model of Boolean multiplex control networks is constructed, which is assumed to be under Harvey' asynchronous update and time delay is introduced both in states and controls. By using of semi-tensor product (STP) approach, the logical dynamics is converted into an equivalent algebraic form by obtaining the control-depending network transition matrices of delayed system. Secondly, a necessary and sufficient condition is proved that only control-depending fixed points of the studied dynamics can be controlled with probability one. Thirdly, respectively for two types of controls, the controllability of dynamical control system is investigated. When initial states and time delay are given, formulae are obtained to show a) the reachable set at time s under specified controls; b) the reachable set at time s under arbitrary controls; c) the reachable probabilities to different destination states. Furthermore, an approach is discussed to find a precise control sequence which can steer dynamical system into a specified target with the maximum reachable probability. Examples are shown to illustrate the feasibility of the proposed scheme. PMID:25516009

  11. Controllability of time-delayed Boolean multiplex control networks under asynchronous stochastic update.

    Science.gov (United States)

    Luo, Chao; Wang, Xingyuan; Liu, Hong

    2014-12-17

    In this article, the controllability of asynchronous Boolean multiplex control networks (ABMCNs) with time delay is studied. Firstly, dynamical model of Boolean multiplex control networks is constructed, which is assumed to be under Harvey' asynchronous update and time delay is introduced both in states and controls. By using of semi-tensor product (STP) approach, the logical dynamics is converted into an equivalent algebraic form by obtaining the control-depending network transition matrices of delayed system. Secondly, a necessary and sufficient condition is proved that only control-depending fixed points of the studied dynamics can be controlled with probability one. Thirdly, respectively for two types of controls, the controllability of dynamical control system is investigated. When initial states and time delay are given, formulae are obtained to show a) the reachable set at time s under specified controls; b) the reachable set at time s under arbitrary controls; c) the reachable probabilities to different destination states. Furthermore, an approach is discussed to find a precise control sequence which can steer dynamical system into a specified target with the maximum reachable probability. Examples are shown to illustrate the feasibility of the proposed scheme.

  12. Modeling and Output Feedback Control of Networked Control Systems with Both Time Delays; and Packet Dropouts

    Directory of Open Access Journals (Sweden)

    Li Qiu

    2013-01-01

    Full Text Available This paper is concerned with the problem of modeling and output feedback controller design for a class of discrete-time networked control systems (NCSs with time delays and packet dropouts. A Markovian jumping method is proposed to deal with random time delays and packet dropouts. Different from the previous studies on the issue, the characteristics of networked communication delays and packet dropouts can be truly reflected by the unified model; namely, both sensor-to-controller (S-C and controller-to-actuator (C-A time delays, and packet dropouts are modeled and their history behavior is described by multiple Markov chains. The resulting closed-loop system is described by a new Markovian jump linear system (MJLS with Markov delays model. Based on Lyapunov stability theory and linear matrix inequality (LMI method, sufficient conditions of the stochastic stability and output feedback controller design method for NCSs with random time delays and packet dropouts are presented. A numerical example is given to illustrate the effectiveness of the proposed method.

  13. Synthesis for robust synchronization of chaotic systems under output feedback control with multiple random delays

    Energy Technology Data Exchange (ETDEWEB)

    Wen Guilin [Key Laboratory of Advanced Technology for Vehicle Body Design and Manufactory, M.O.E, College of Mechanical and Automotive Engineering, Hunan University, Changsha, Hunan 410082 (China); Wang Qingguo [Department of Electrical and Computer Engineering, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260 (Singapore)]. E-mail: elewqg@nus.edu.sg; Lin Chong [Department of Electrical and Computer Engineering, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260 (Singapore); Han Xu [Key Laboratory of Advanced Technology for Vehicle Body Design and Manufactory, M.O.E, College of Mechanical and Automotive Engineering, Hunan University, Changsha, Hunan 410082 (China); Li Guangyao [Key Laboratory of Advanced Technology for Vehicle Body Design and Manufactory, M.O.E, College of Mechanical and Automotive Engineering, Hunan University, Changsha, Hunan 410082 (China)

    2006-09-15

    Synchronization under output feedback control with multiple random time delays is studied, using the paradigm in nonlinear physics-Chua's circuit. Compared with other synchronization control methods, output feedback control with multiple random delay is superior for a realistic synchronization application to secure communications. Sufficient condition for global stability of delay-dependent synchronization is established based on the LMI technique. Numerical simulations fully support the analytical approach, in spite of the random delays.

  14. Redesigned Predictive Event-Triggered Controller for Networked Control System With Delays.

    Science.gov (United States)

    Wu, Di; Sun, Xi-Ming; Wen, Changyun; Wang, Wei

    2016-10-01

    Event-triggered control (ETC) is a control strategy which can effectively reduce communication traffic in control networks. In the case where communication resources are scarce, ETC plays an important role in updating and communicating data. When network-induced delays are involved, two unsynchronized phenomena will appear if the existing ETC strategy, designed for networked control systems (NCSs) free of delays, is adopted. This paper deals with the ETC problem for NCS with delays existing in both sensor-to-controller and controller-to-actuator channels. A new predictive ETC strategy is proposed to solve both unsynchronized problems. It is shown that the stability of the resulting closed-loop system can be guaranteed under such an ETC strategy. Finally, both simulation studies and experimental tests are carried out to illustrate the proposed technique and verify its effectiveness.

  15. Treatment delay among tuberculosis patients in Tanzania: Data from the FIDELIS Initiative

    Directory of Open Access Journals (Sweden)

    Enarson Donald A

    2011-05-01

    Full Text Available Abstract Background Several FIDELIS projects (Fund for Innovative DOTS Expansion through Local Initiatives to Stop TB in Tanzania were conducted by the National Tuberculosis and Leprosy Programme (NTLP during the years 2004-2008 to strengthen diagnostic and treatment services. These projects collected information on treatment delay and some of it was available for research purposes. With this database our objective was to assess the duration and determinants of treatment delay among new smear positive pulmonary tuberculosis (TB patients in FIDELIS projects, and to compare delay according to provider visited prior to diagnosis. Methods Treatment delay among new smear positive TB patients was recorded for each patient at treatment initiation and this information was available and fairly complete in 6 out of 57 districts with FIDELIS projects enrolling patients between 2004 and 2007; other districts had discarded their forms at the time of analysis. It was analysed as a cross sectional study. Results We included 1161 cases, 10% of all patients recruited in the FIDELIS projects in Tanzania. Median delay was 12 weeks. The median duration of cough, weight loss and haemoptysis was 12, 8 and 3 weeks, respectively. Compared to Hai district Handeni had patients with longer delays and Mbozi had patients with shorter delays. Urban and rural patients reported similar delays. Patients aged 15-24 years and patients of 65 years or older had longer delays. Patients reporting contact with traditional healers before diagnosis had a median delay of 15 weeks compared to 12 weeks among those who did not. Patients with dyspnoea and with diarrhoea had longer delays. Conclusion In this patient sample in Tanzania half of the new smear positive pulmonary tuberculosis patients had a treatment delay longer than 12 weeks. Delay was similar in men and women and among urban and rural patients, but longer in the young and older age groups. Patients using traditional healers had

  16. Delayed feedback control of unstable steady states in fractional-order chaotic systems

    CERN Document Server

    Gjurchinovski, Aleksandar; Urumov, Viktor

    2010-01-01

    We study the possibility to stabilize unstable steady states in chaotic fractional-order dynamical systems by the time-delayed feedback method with both constant and time-varying delays. By performing a linear stability analysis in the constant delay case, we establish the parameter ranges for successful stabilization of unstable equilibria in the plane parametrizad by the feedback gain and the time delay. An insight into the control mechanism is gained by analyzing the characteristic equation of the controlled system, showing that the control scheme fails to control unstable equilibria having an odd number of positive real eigenvalues. It is shown numerically that delayed feedback control with a variable time-delay significantly enlarges the stability region of the steady states in comparison to the classical time-delayed feedback scheme with a constant delay.

  17. Delay in Presentation, Diagnosis, and Treatment for Breast Cancer Patients in Jordan.

    Science.gov (United States)

    Abu-Helalah, Ahmad Munir; Alshraideh, Ahmad Hussam; Al-Hanaqtah, Mo'tasem; Da'na, Moh'd; Al-Omari, Asim; Mubaidin, Rasmi

    2016-01-01

    Breast cancer is the most common cancer, and one of the leading causes of death for females in Jordan and many countries in the world. Studies have shown that delay in symptoms presentation, diagnosis or treatment would result in poor prognosis. There has been no published study from Jordan on delays in patient presentation, delays in diagnosis, or delays in treatment. Therefore, we conducted this study to assess these important quality indicators aiming to improve prognosis for breast cancer patients in Jordan. This project was a cross-sectional study on female breast cancer patients in Jordan. The total number of participants was 327. The proportion of patients with presentation delay, diagnosis delay, and treatment delay was 32.2%, 49.1%, or 32.4%, respectively. The main reported reasons for delay in presentation were ignorance of the nature of the problem (65.6%), limited/lack of knowledge that symptoms were suggestive of cancer diagnosis (16.7%), and misdiagnosis (16.7%). Predictors of delay and mean time for presentation, diagnosis, and treatment were identified. Our results reveal that breast cancer patients in Jordan are experiencing delays in presentation, diagnosis, and treatment. This could justify the advanced stages at diagnosis and poor outcomes for breast cancer patients in Jordan. We recommend revising the current early detection and down-staging programs in Jordan.

  18. Observer-based tracking controller design for networked predictive control systems with uncertain Markov delays

    Science.gov (United States)

    Zhang, Hui; Shi, Yang; Wang, Junmin

    2013-10-01

    This paper is concerned with a tracking controller design problem for discrete-time networked predictive control systems. The control law used here is a combined state-feedback control and integral control. Since not all the states are available in practice, a local Luenberger observer is utilised to estimate the state vector. The measured output and estimated state vector are packed together and transmitted to the tracking controller via a communication channel with a limited capacity. Meanwhile, the control signal is also transmitted through a communication network.Network-induced delays on both links are considered for the signal transmission and modelled by Markov chains. Moreover, it is assumed that the elements in Markov transition matrices are subject to uncertainties. In order to fully compensate for network-induced delays, the controller generates a sequence of control signals which are dependent on each possible delay in the feedforward channel. By taking the augmentation twice, we obtain delay-free stochastic closed-loop systems and the controlled output is chosen as the tracking error. Sufficient conditions are provided for the energy-to-peak performance of the closed-loop systems. The feedback gains of the controller can be derived by solving a minimisation problem. Two examples are illustrated to demonstrate the effectiveness of the proposed design method.

  19. The optimal duration and delay of first aid treatment for deep partial thickness burn injuries.

    Science.gov (United States)

    Cuttle, Leila; Kempf, Margit; Liu, Pei-Yun; Kravchuk, Olena; Kimble, Roy M

    2010-08-01

    Using our porcine model of deep dermal partial thickness burn injury, various durations (10min, 20min, 30min or 1h) and delays (immediate, 10min, 1h, 3h) of 15 degrees C running water first aid were applied to burns and compared to untreated controls. The subdermal temperatures were monitored during the treatment and wounds observed weekly for 6 weeks, for re-epithelialisation, wound surface area and cosmetic appearance. At 6 weeks after the burn, tissue biopsies were taken of the scar for histological analysis. Results showed that immediate application of cold running water for 20min duration is associated with an improvement in re-epithelialisation over the first 2 weeks post-burn and decreased scar tissue at 6 weeks. First aid application of cold water for as little as 10min duration or up to 1h delay still provides benefit.

  20. Output regulation problem for discrete-time linear time-delay systems by output feedback control

    Institute of Scientific and Technical Information of China (English)

    Yamin YAN; Jie HUANG

    2016-01-01

    In this paper, we study the output regulation problem of discrete linear time-delay systems by output feedback control. We have established some results parallel to those for the output regulation problem of continuous linear time-delay systems.

  1. Stabilizing fixed points of time-delay systems close to the Hopf bifurcation using a dynamic delayed feedback control method

    Energy Technology Data Exchange (ETDEWEB)

    Rezaie, B; Motlagh, M R Jahed; Analoui, M [Iran University of Science and Technology, Narmak, Tehran (Iran, Islamic Republic of); Khorsandi, S [Amirkabir University of Technology, Hafez St., Tehran (Iran, Islamic Republic of)], E-mail: brezaie@iust.ac.ir

    2009-10-02

    This paper deals with the problem of Hopf bifurcation control for a class of nonlinear time-delay systems. A dynamic delayed feedback control method is utilized for stabilizing unstable fixed points near Hopf bifurcation. Using a linear stability analysis, we show that under certain conditions of the control parameters, and without changing the operating point of the system, the onset of Hopf bifurcation is delayed. Meanwhile, by applying the center manifold theorem and the normal form theory, we obtain formulas for determining the direction of the Hopf bifurcation and the stability of bifurcating periodic solutions of the closed loop system. Numerical simulations are given to justify the validity of the analytical results for the system controlled by the proposed method.

  2. Delayed system control in presence of actuator saturation

    Directory of Open Access Journals (Sweden)

    A. Mahjoub

    2014-09-01

    Full Text Available The paper is introducing a new design method for systems’ controllers with input delay and actuator saturations and focuses on how to force the system output to track a reference input not necessarily saturation-compatible. We propose a new norm based on the way we quantify tracking performance as a function of saturation errors found using the same norm. The newly defined norm is related to signal average power making possible to account for most common reference signals e.g. step, periodic. It is formally shown that, whatever the reference shape and amplitude, the achievable tracking quality is determined by a well defined reference tracking mismatch error. This latter depends on the reference rate and its compatibility with the actuator saturation constraint. In fact, asymptotic output-reference tracking is achieved in the presence of constraint-compatible step-like references.

  3. Transmission Delay Based Control over Networks with Wireless Links

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    To achieve the mobility of computers during communication, the TCP connections between fixed host and mobile host may often traverse wired and wireless networks, and the recovery of losses due to wireless transmission error is much different from congestion control. The paper analyzes the side effect of RTT estimation while making the TCP source to handle congestion and wireless error losses properly. Then present a strategy using information feedback by the last hop acknowledgement and monitoring the queuing level of the wired bottleneck link by calculating the changes in transmission delay along the path. With the identification of the early stage of congestion, it can respond to wired congestion quickly while keeping wireless link more reliable, and make TCP react to the different packets losses more appropriately.

  4. Signal Propagation Delay as a Barrier to Control Applications in WAN

    DEFF Research Database (Denmark)

    Knudsen, Thomas Phillip; Patel, A.; Pedersen, Jens Myrup;

    With the advent in WAN of delay sensitive technical applications, such as remote control, signal propagation delay becomes a major problem. The extent of the problem is analysed by lower bounding the delay in relation to different transmission media. Requirements for reliability and bandwidth...... are considered. The consequences of this bounding for communication network planning and provisioning are discussed in relation to mitigating the effects of signal propagation delay as a barrier to the penetration of control applications into WAN...

  5. Observer design for compensation of network-induced delays in integrated communication and control systems

    Science.gov (United States)

    Luck, R.; Ray, A.

    1988-01-01

    A method for compensating the effects of network-induced delays in integrated communication and control systems (ICCS) is proposed, and a finite-dimensional time-invariant ICCS model is developed. The problem of analyzing systems with time-varying and stochastic delays is circumvented by the application of a deterministic observer. For the case of controller-to-actuator delays, the observed design must rely on an extended model which represents the delays as additional states.

  6. Model algorithm control using neural networks for input delayed nonlinear control system

    Institute of Scientific and Technical Information of China (English)

    Yuanliang Zhang; Kil To Chong

    2015-01-01

    The performance of the model algorithm control method is partial y based on the accuracy of the system’s model. It is diffi-cult to obtain a good model of a nonlinear system, especial y when the nonlinearity is high. Neural networks have the ability to“learn”the characteristics of a system through nonlinear mapping to rep-resent nonlinear functions as wel as their inverse functions. This paper presents a model algorithm control method using neural net-works for nonlinear time delay systems. Two neural networks are used in the control scheme. One neural network is trained as the model of the nonlinear time delay system, and the other one pro-duces the control inputs. The neural networks are combined with the model algorithm control method to control the nonlinear time delay systems. Three examples are used to il ustrate the proposed control method. The simulation results show that the proposed control method has a good control performance for nonlinear time delay systems.

  7. Dynamic Output Feedback Control for Nonlinear Networked Control Systems with Random Packet Dropout and Random Delay

    Directory of Open Access Journals (Sweden)

    Shuiqing Yu

    2013-01-01

    Full Text Available This paper investigates the dynamic output feedback control for nonlinear networked control systems with both random packet dropout and random delay. Random packet dropout and random delay are modeled as two independent random variables. An observer-based dynamic output feedback controller is designed based upon the Lyapunov theory. The quantitative relationship of the dropout rate, transition probability matrix, and nonlinear level is derived by solving a set of linear matrix inequalities. Finally, an example is presented to illustrate the effectiveness of the proposed method.

  8. Delayed onset muscle soreness : treatment strategies and performance factors.

    Science.gov (United States)

    Cheung, Karoline; Hume, Patria; Maxwell, Linda

    2003-01-01

    Delayed onset muscle soreness (DOMS) is a familiar experience for the elite or novice athlete. Symptoms can range from muscle tenderness to severe debilitating pain. The mechanisms, treatment strategies, and impact on athletic performance remain uncertain, despite the high incidence of DOMS. DOMS is most prevalent at the beginning of the sporting season when athletes are returning to training following a period of reduced activity. DOMS is also common when athletes are first introduced to certain types of activities regardless of the time of year. Eccentric activities induce micro-injury at a greater frequency and severity than other types of muscle actions. The intensity and duration of exercise are also important factors in DOMS onset. Up to six hypothesised theories have been proposed for the mechanism of DOMS, namely: lactic acid, muscle spasm, connective tissue damage, muscle damage, inflammation and the enzyme efflux theories. However, an integration of two or more theories is likely to explain muscle soreness. DOMS can affect athletic performance by causing a reduction in joint range of motion, shock attenuation and peak torque. Alterations in muscle sequencing and recruitment patterns may also occur, causing unaccustomed stress to be placed on muscle ligaments and tendons. These compensatory mechanisms may increase the risk of further injury if a premature return to sport is attempted.A number of treatment strategies have been introduced to help alleviate the severity of DOMS and to restore the maximal function of the muscles as rapidly as possible. Nonsteroidal anti-inflammatory drugs have demonstrated dosage-dependent effects that may also be influenced by the time of administration. Similarly, massage has shown varying results that may be attributed to the time of massage application and the type of massage technique used. Cryotherapy, stretching, homeopathy, ultrasound and electrical current modalities have demonstrated no effect on the alleviation of

  9. Controllability and observability of Boolean control networks with time-variant delays in states.

    Science.gov (United States)

    Zhang, Lijun; Zhang, Kuize

    2013-09-01

    This brief investigates the controllability and observability of Boolean control networks with (not necessarily bounded) time-variant delays in states. After a brief introduction to converting a Boolean control network to an equivalent discrete-time bilinear dynamical system via the semi-tensor product of matrices, the system is split into a finite number of subsystems (constructed forest) with no time delays by using the idea of splitting time that is proposed in this brief. Then, the controllability and observability of the system are investigated by verifying any so-called controllability constructed path and any so-called observability constructed paths in the above forest, respectively, which generalize some recent relevant results. Matrix test criteria for the controllability and observability are given. The corresponding control design algorithms based on the controllability theorems are given. We also show that the computing complexity of our algorithm is much less than that of the existing algorithms.

  10. Analysis, control and design of speed control of electric vehicles delayed model

    DEFF Research Database (Denmark)

    Khooban, Mohammad-Hassan; ShaSadeghi, Mokhtar; Niknam, Taher

    2017-01-01

    The purpose of this study is to suggest an optimal multi-objective fuzzy fractional-order PIλDμPIλDμ controller (MOFFOPID) for the speed control of EV systems with time-delay. It is presumed that while the EV is in movement, the armature winding resistance of the direct current (DC) motor varies ...

  11. Controllability of nonlinear stochastic systems with multiple time-varying delays in control

    Directory of Open Access Journals (Sweden)

    Karthikeyan Shanmugasundaram

    2015-06-01

    Full Text Available This paper is concerned with the problem of controllability of semi-linear stochastic systems with time varying multiple delays in control in finite dimensional spaces. Sufficient conditions are established for the relative controllability of semilinear stochastic systems by using the Banach fixed point theorem. A numerical example is given to illustrate the application of the theoretical results. Some important comments are also presented on existing results for the stochastic controllability of fractional dynamical systems.

  12. Causes of delay in the adequate treatment of childhood illness in India.

    Science.gov (United States)

    Primhak, R; Coates, S; Hosking, G; Benakappa, D G; Benakappa, D B

    1987-12-01

    A retrospective study of children attending a government hospital in Bangalore was performed to assess the causes of delay in providing appropriate treatment. Delay had occurred in 59% of children with significant illness, and in over half the cases the primary cause of delay was inappropriate treatment or delayed referral by a doctor trained in Western-style medicine. It is concluded that there are a large number of ill children in Bangalore whose parents are seeking the help of such doctors but where management is at fault.

  13. Controlling chaos in a nonlinear pendulum using an extended time-delayed feedback control method

    Energy Technology Data Exchange (ETDEWEB)

    Souza de Paula, Aline [COPPE - Department of Mechanical Engineering, Universidade Federal do Rio de Janeiro, P.O. Box 68503, 21.941-972 Rio de Janeiro, RJ (Brazil)], E-mail: alinesp@ufrj.br; Savi, Marcelo Amorim [COPPE - Department of Mechanical Engineering, Universidade Federal do Rio de Janeiro, P.O. Box 68503, 21.941-972 Rio de Janeiro, RJ (Brazil)], E-mail: savi@mecanica.ufrj.br

    2009-12-15

    Chaos control is employed for the stabilization of unstable periodic orbits (UPOs) embedded in chaotic attractors. The extended time-delayed feedback control uses a continuous feedback loop incorporating information from previous states of the system in order to stabilize unstable orbits. This article deals with the chaos control of a nonlinear pendulum employing the extended time-delayed feedback control method. The control law leads to delay-differential equations (DDEs) that contain derivatives that depend on the solution of previous time instants. A fourth-order Runge-Kutta method with linear interpolation on the delayed variables is employed for numerical simulations of the DDEs and its initial function is estimated by a Taylor series expansion. During the learning stage, the UPOs are identified by the close-return method and control parameters are chosen for each desired UPO by defining situations where the largest Lyapunov exponent becomes negative. Analyses of a nonlinear pendulum are carried out by considering signals that are generated by numerical integration of the mathematical model using experimentally identified parameters. Results show the capability of the control procedure to stabilize UPOs of the dynamical system, highlighting some difficulties to achieve the stabilization of the desired orbit.

  14. PI and PID controller tuning rules for time delay processes: a summary. Part 2: PID controller tuning rules

    OpenAIRE

    O'Dwyer, Aidan

    1999-01-01

    A summary of tuning rules for the PID control of single input, single output (SISO) processes with time delay, modeled in stable first order lag plus time delay (FOLPD) form, is provided in this part of the paper.

  15. Experimental study of delayed positive feedback control for a flexible beam

    Institute of Scientific and Technical Information of China (English)

    2011-01-01

    Recently, some researches indicate that positive feedback can benefit the control if appropriate time delay is intentionally introduced into control system. However, most work is theoretical one but few are experimental. This paper presents theoretical and experimental studies of delayed positive feedback control technique using a flexible beam as research object. The positive feedback weighting coefficient is designed by using the optimal control method. The available time delay is determined by analyzing ...

  16. Comparison of the outcome of early and delayed surgical treatment of complete acromioclavicular joint dislocation.

    Science.gov (United States)

    Song, Tengfei; Yan, Xu; Ye, Tianwen

    2016-06-01

    The aim of this study is to compare the clinical and radiographic results and the complication rate between early and delayed surgical treatment of acromioclavicular joint (ACJ) dislocation. Publications in the management of ACJ dislocation are identified from the PubMed database between January 1993 and December 2013 using "acromioclavicular joint" and "dislocation" as keywords. The eligibility criteria included are as follows: (1) ACJ dislocation; (2) intervention, early compared with delayed surgical treatment or the surgical treatment for acute compared with chronic ACJ dislocation; (3) human; and (4) English articles. Exclusion criteria consist of the following: (1) type I and type II ACJ dislocation, (2) no definition of the time of early and delayed surgery in studies, (3) no comparison between the clinical result of early and delayed surgery in studies, (4) laboratory studies, radiographic studies, biomechanical studies, (5) the cases including fractures or revisions in studies, and (6) systematic analyses. Eight studies comparing early and delayed surgical treatment of ACJ dislocation are included in this systematic review. According to Constant scores and shoulder subjective value, early surgery has better functional outcomes than delayed surgery in the treatment of ACJ dislocation (P < 0.05). Partial-dislocation/re-dislocation is found at 26.0 % in early and 38.1 % in delayed surgical treatment (P < 0.05). The rate of CC ossification in early surgical treatment is found as the same as the delayed. The complication rates are found at 12.5 % in early surgical treatment and 17.7 % in the delayed, which is not significantly different. Early surgical treatment may have superiority to the delayed procedure in the management of ACJ dislocation with better functional outcomes and more satisfied reduction. However, high-quality evidence studies are required to provide stronger support for this opinion in the future. IV.

  17. Diagnostic and treatment delay among pulmonary tuberculosis patients in Ethiopia: a cross sectional study

    Directory of Open Access Journals (Sweden)

    Yimer Solomon

    2005-12-01

    Full Text Available Abstract Background Delayed diagnosis and treatment of tuberculosis (TB results in severe disease and a higher mortality. It also leads to an increased period of infectivity in the community. The objective of this study was to determine the length of delays, and analyze the factors affecting the delay from onset of symptoms of pulmonary tuberculosis (PTB until the commencement of treatment. Methods In randomly selected TB management units (TBMUs, i.e. government health institutions which have diagnosing and treatment facilities for TB in Amhara Region, we conducted a cross sectional study from September 1-December 31/2003. Delay was analyzed from two perspectives, 1. Period between onset of TB symptoms to first visit to any health provider (health seeking period, and from the first health provider visit to initiation of treatment (health providers' delay, and 2. Period between onset of TB symptoms to first visit to a medical provider (patients' delay, and from this visit to commencement of anti-TB treatment (health systems' delay. Patients were interviewed on the same date of diagnosis using a semi-structured questionnaire. Logistics regression analysis was applied to analyze the risk factors of delays. Results A total of 384 new smear positive PTB patients participated in the study. The median total delay was 80 days. The median health-seeking period and health providers' delays were 15 and 61 days, respectively. Conversely, the median patients' and health systems' delays were 30 and 21 days, respectively. Taking medical providers as a reference point, we found that forty eight percent of the subjects delayed for more than one month. Patients' delays were strongly associated with first visit to non-formal health providers and self treatment (P Conclusion Delay in the diagnosis and treatment of PTB is unacceptably high in Amhara region. Health providers' and health systems' delays represent the major portion of the total delay. Accessing a

  18. Adaptive neural control of nonlinear time-delay systems with unknown virtual control coefficients.

    Science.gov (United States)

    Ge, Shuzhi Sam; Hong, Fan; Lee, Tong Heng

    2004-02-01

    In this paper, adaptive neural control is presented for a class of strict-feedback nonlinear systems with unknown time delays. The proposed design method does not require a priori knowledge of the signs of the unknown virtual control coefficients. The unknown time delays are compensated for using appropriate Lyapunov-Krasovskii functionals in the design. It is proved that the proposed backstepping design method is able to guarantee semiglobal uniformly ultimately boundedness of all the signals in the closed-loop. In addition, the output of the system is proven to converge to a small neighborhood of the origin. Simulation results are provided to show the effectiveness of the proposed approach.

  19. Measuring and Modelling Delays in Robot Manipulators for Temporally Precise Control using Machine Learning

    DEFF Research Database (Denmark)

    Andersen, Thomas Timm; Amor, Heni Ben; Andersen, Nils Axel

    2015-01-01

    and separate. In this paper, we present a data-driven methodology for separating and modelling inherent delays during robot control. We show how both actuation and response delays can be modelled using modern machine learning methods. The resulting models can be used to predict the delays as well...

  20. Successful Treatment of T Cell-Mediated Acute Rejection with Delayed CTLA4-Ig in Mice

    Directory of Open Access Journals (Sweden)

    James S. Young

    2017-09-01

    Full Text Available Clinical observations that kidney transplant recipients receiving belatacept who experienced T cell-mediated acute rejection can be successfully treated and subsequently maintained on belatacept-based immunosuppression suggest that belatacept is able to control memory T cells. We recently reported that treatment with CTLA4-Ig from day 6 posttransplantation successfully rescues allografts from acute rejection in a BALB/c to C57BL/6 heart transplant model, in part, by abolishing B cell germinal centers and reducing alloantibody titers. Here, we show that CTLA4-Ig is additionally able to inhibit established T cell responses independently of B cells. CTLA4-Ig inhibited the in vivo cytolytic activity of donor-specific CD8+ T cells, and the production of IFNγ by graft-infiltrating T cells. Delayed CTLA4-Ig treatment did not reduce the numbers of graft-infiltrating T cells nor prevented the accumulation of antigen-experienced donor-specific memory T cells in the spleen. Nevertheless, delayed CTLA4-Ig treatment successfully maintained long-term graft acceptance in the majority of recipients that had experienced a rejection crisis, and enabled the acceptance of secondary BALB/c heart grafts transplanted 30 days after the first transplantation. In summary, we conclude that delayed CTLA4-Ig treatment is able to partially halt ongoing T cell-mediated acute rejection. These findings extend the functional efficacy of CTLA4-Ig therapy to effector T cells and provide an explanation for why CTLA4-Ig-based immunosuppression in the clinic successfully maintains long-term graft survival after T cell-mediated rejection.

  1. H∞ Control of Four-Wheel-Independent-Drive Electric Vehicles with Random Time-Varying Delays

    Directory of Open Access Journals (Sweden)

    Gang Qin

    2015-01-01

    Full Text Available The random time-varying delays would reduce control performance and even deteriorate the EV system. To deal with random time-varying delays and achieve a real-time steady-state response, considering randomness of delay and a rapid response, an H∞-based delay-tolerant linear quadratic regulator (LQR control method based on Taylor series expansion is proposed in this paper. The results of cosimulations with Simulink and CarSim demonstrate the effectiveness of the proposed controller through the control performance of yaw rate, sideslip angle, and the running track. Moreover, the results of comparison with the other controller illustrate the strength of explicitly.

  2. Treatment delay among pulmonary tuberculosis patients in pastoralist communities in Bale Zone, Southeast Ethiopia

    Directory of Open Access Journals (Sweden)

    Hussen Awol

    2012-06-01

    Full Text Available Abstract Background Tuberculosis (TB is a major public health problem in Africa with Ethiopia being the most affected. Treatment delay is an important indicator of access to TB diagnosis and treatment. However, little is known about factors associated with treatment delay of pulmonary TB among pastoralists. Health facility based cross sectional study was conducted on 129 pulmonary TB patients in pastoralist community. The study was conducted in three health centers and a hospital. Time between onset of TB symptoms and first visit to a professional health care provider (patient delay, and the time between first visits to the professional health care provider to the date of diagnosis (provider's delay were analyzed using SPSS 16.0 statistical software. Findings A total of 129 new smear positive pulmonary TB patients participated in the study. The median total delay was 97 days. The median patient and health provider delays were 63 and 34 days, respectively. Ninety six percent of the patients were delayed for more than the twenty one days cutoff point. Patient delay was positively associated with first visit to traditional healer/private clinic/drug shop, rural residence, being illiterate, living in more than 10 kilometers from health facility; severity of illness at first presentation to health facility. Provider delay was positively associated with rural residence, being illiterate, patient with good functional status, patients in contact with more than two health providers, and place of first visit being traditional healer/private clinic/drug shop. Conclusions This study showed that majority of smear positive patients delayed either for diagnosis or treatment, thus continue to serve as reservoirs of infection. This indicates that there is a need for intervention to decrease patient and provider delays. Effort to reduce delays in pastoralist communities should focus on improving access to services in rural communities, engaging traditional and

  3. Local Stability of AIDS Epidemic Model Through Treatment and Vertical Transmission with Time Delay

    Science.gov (United States)

    Novi W, Cascarilla; Lestari, Dwi

    2016-02-01

    This study aims to explain stability of the spread of AIDS through treatment and vertical transmission model. Human with HIV need a time to positively suffer AIDS. The existence of a time, human with HIV until positively suffer AIDS can be delayed for a time so that the model acquired is the model with time delay. The model form is a nonlinear differential equation with time delay, SIPTA (susceptible-infected-pre AIDS-treatment-AIDS). Based on SIPTA model analysis results the disease free equilibrium point and the endemic equilibrium point. The disease free equilibrium point with and without time delay are local asymptotically stable if the basic reproduction number is less than one. The endemic equilibrium point will be local asymptotically stable if the time delay is less than the critical value of delay, unstable if the time delay is more than the critical value of delay, and bifurcation occurs if the time delay is equal to the critical value of delay.

  4. Variable sampling approach to mitigate instability in networked control systems with delays.

    Science.gov (United States)

    López-Echeverría, Daniel; Magaña, Mario E

    2012-01-01

    This paper analyzes a new alternative approach to compensate for the effects of time delays on a dynamic networked control system (NCS). The approach is based on the use of time-delay-predicted values as the sampling times of the NCS. We use a one-step-ahead prediction algorithm based on an adaptive time delay neural network. The application of pole placement and linear quadratic regulator methods to compute the feedback gains taking into account the estimated time delays is investigated.

  5. Robust Moving Horizon H∞ Control of Discrete Time-Delayed Systems with Interval Time-Varying Delays

    Directory of Open Access Journals (Sweden)

    F. Yıldız Tascikaraoglu

    2014-01-01

    Full Text Available In this study, design of a delay-dependent type moving horizon state-feedback control (MHHC is considered for a class of linear discrete-time system subject to time-varying state delays, norm-bounded uncertainties, and disturbances with bounded energies. The closed-loop robust stability and robust performance problems are considered to overcome the instability and poor disturbance rejection performance due to the existence of parametric uncertainties and time-delay appeared in the system dynamics. Utilizing a discrete-time Lyapunov-Krasovskii functional, some delay-dependent linear matrix inequality (LMI based conditions are provided. It is shown that if one can find a feasible solution set for these LMI conditions iteratively at each step of run-time, then we can construct a control law which guarantees the closed-loop asymptotic stability, maximum disturbance rejection performance, and closed-loop dissipativity in view of the actuator limitations. Two numerical examples with simulations on a nominal and uncertain discrete-time, time-delayed systems, are presented at the end, in order to demonstrate the efficiency of the proposed method.

  6. H∞control for uncertain Markovian jump systems with mode-dependent mixed delays

    Institute of Scientific and Technical Information of China (English)

    Yingchun Wang; Huaguang Zhang

    2008-01-01

    We study the problem of H∞ control for a class of Markovian jump systems with norm-bounded parameter uncertainties and mode-dependent mixed delays including discrete delays and distributed delays in this paper. Our aim is to present a new delay-dependent control approach such that the resulting closed-loop system is robust mean-square (MS) exponentially stable and satisfies a prescribed H∞ performance level, irrespective of the parameter uncertainties. Such delay-dependent approach does not require system transformation or free-weighting matrix. A numerical example shows that the results are less conservative and more effective.

  7. Discrete-Time Sliding Mode Control for Uncertain Networked System Subject to Time Delay

    Directory of Open Access Journals (Sweden)

    Saulo C. Garcia

    2015-01-01

    Full Text Available We deal with uncertain systems with networked sliding mode control, subject to time delay. To minimize the degenerative effects of the time delay, a simpler format of state predictor is proposed in the control law. Some ultimate bounded stability analyses and stabilization conditions are provided for the uncertain time delay system with proposed discrete-time sliding mode control strategy. A numerical example is presented to corroborate the analyses.

  8. Compensation for time-delayed feedback bang-bang control of quasi-integrable Hamiltonian systems

    Institute of Scientific and Technical Information of China (English)

    2009-01-01

    The stochastic averaging method for quasi-integrable Hamiltonian systems with time-delayed feedback bang-bang control is first introduced. Then, two time delay compensation methods, namely the method of changing control force amplitude (CFA) and the method of changing control delay time (CDT), are proposed. The conditions applicable to each compensation method are discussed. Finally, an example is worked out in detail to illustrate the application and effectiveness of the proposed methods and the two compensation methods in combination.

  9. A NEW SLIDING MODE CONTROL FOR A CLASS OF UNCERTAIN TIME-DELAY CHAOTIC SYSTEMS

    Institute of Scientific and Technical Information of China (English)

    LI LI-XIANG; PENG HAI-PENG; GUAN BAO-ZHU; XU JIN-MING

    2001-01-01

    We propose a new sliding mode control scheme for a class of uncertain time-delay chaotic systems. It is shown that a linear time invariant system with the desired system dynamics is used as a reference model for the output of a time-delay chaotic system to track. A sliding mode controller is then designed to drive the output of the time-delay chaotic system to track the desired linear system. On the sliding mode, the output of the controlled time-delay chaotic system can behave like the desired linear system. A simulation example is given in support of the proposed control scheme.

  10. Time-delayed quantum coherent Pyragas feedback control of photon squeezing in a degenerate parametric oscillator

    Science.gov (United States)

    Kraft, Manuel; Hein, Sven M.; Lehnert, Judith; Schöll, Eckehard; Hughes, Stephen; Knorr, Andreas

    2016-08-01

    Quantum coherent feedback control is a measurement-free control method fully preserving quantum coherence. In this paper we show how time-delayed quantum coherent feedback can be used to control the degree of squeezing in the output field of a cavity containing a degenerate parametric oscillator. We focus on the specific situation of Pyragas-type feedback control where time-delayed signals are fed back directly into the quantum system. Our results show how time-delayed feedback can enhance or decrease the degree of squeezing as a function of time delay and feedback strength.

  11. Perceptions on the effectiveness of treatment and the timeline of Buruli ulcer influence pre-hospital delay reported by healthy individuals.

    Directory of Open Access Journals (Sweden)

    Marike Alferink

    Full Text Available BACKGROUND: Delay in seeking treatment at the hospital is a major challenge in current Buruli ulcer control; it is associated with severe sequelae and functional limitations. Choosing alternative treatment and psychological, social and practical factors appear to influence delay. Objectives were to determine potential predictors for pre-hospital delay with Leventhal's commonsense model of illness representations, and to explore whether the type of available dominant treatment modality influenced individuals' perceptions about BU, and therefore, influenced pre-hospital delay. METHODOLOGY: 130 healthy individuals aged >18 years, living in BU-endemic areas in Benin without any history of BU were included in this cross-sectional study. Sixty four participants from areas where surgery was the dominant treatment and sixty six participants from areas where antibiotic treatment was the dominant treatment modality were recruited. Using a semi-structured interview we measured illness perceptions (IPQ-R, knowledge about BU, background variables and estimated pre-hospital delay. PRINCIPAL FINDINGS: The individual characteristics 'effectiveness of treatment' and 'timeline acute-chronic' showed the strongest association with pre-hospital delay. No differences were found between regions where surgery was the dominant treatment and regions where antibiotics were the dominant treatment modality. CONCLUSIONS: Individual characteristics, not anticipated treatment modality appeared predictors of pre-hospital delay.

  12. Stability and Time Delay Tolerance Analysis Approach for Networked Control Systems

    Directory of Open Access Journals (Sweden)

    Ashraf F. Khalil

    2015-01-01

    Full Text Available Networked control system is a research area where the theory is behind practice. Closing the feedback loop through shared network induces time delay and some of the data could be lost. So the network induced time delay and data loss are inevitable in networked control Systems. The time delay may degrade the performance of control systems or even worse lead to system instability. Once the structure of a networked control system is confirmed, it is essential to identify the maximum time delay allowed for maintaining the system stability which, in turn, is also associated with the process of controller design. Some studies reported methods for estimating the maximum time delay allowed for maintaining system stability; however, most of the reported methods are normally overcomplicated for practical applications. A method based on the finite difference approximation is proposed in this paper for estimating the maximum time delay tolerance, which has a simple structure and is easy to apply.

  13. Method of Time-Delay Calculating and Correcting to Control Spin-Stabilized Satellite Synchronously

    Institute of Scientific and Technical Information of China (English)

    YangTianshe; LiJisheng; HuangYongxuan

    2005-01-01

    The key to control Spin-Stabilized Satellites Synchronously is to determine the models for calculating and correcting of time-delay at the different situations. Based on the principle of Synchronous-Control mode, the methods of determining the models of calculating and correcting of time-delay are proposed. The methods have been proved to be effective in real satellite control engineering.

  14. Chaos and Its Impulsive Control in Chua's Oscillator via Time-Delay Feedback

    Institute of Scientific and Technical Information of China (English)

    Yong-Bin Yu; Hong-Bin Zhang; Zhu-Sheng Kang; Xiao-Feng Liao; Jue-Bang Yu

    2008-01-01

    A novel framework for chaos and its impul sive control in Chua's oscillator via time-delay feedback is presented. The exponential stability of impulsive control Chua's oscillator via time-delay feedback is considered, and some novel conditions are obtained. Then a novel impulsive controller design procedure is proposed. Simulation experiments are provided to demonstrate the feasibility and effectiveness of our method finally.

  15. Optimization of time-delayed feedback control of seismically excited building structures

    Institute of Scientific and Technical Information of China (English)

    Xue-ping LI; Wei-qiu ZHU; Zu-guang YING

    2008-01-01

    An optimization method for time-delayed feedback control of partially observable linear building structures subjected to seismic excitation is proposed. A time-delayed control problem of partially observable linear building structure under horizontal ground acceleration excitation is formulated and converted into that of completely observable linear structure by using separation principle. The time-delayed control forces are approximately expressed in terms of control forces without time delay. The control system is then governed by Ito stochastic differential equations for the conditional means of system states and then transformed into those for the conditional means of modal energies by using the stochastic averaging method for quasi-Hamiltonian systems. The control law is assumed to be modal velocity feedback control with time delay and the unknown control gains are determined by the modal performance indices. A three-storey building structure is taken as example to illustrate the proposal method and the numerical results are confirmed by using Monte Carlo simulation.

  16. EFFECT OF ICE BAG, DYNAMIC STRETCHING AND COMBINED TREATMENTS ON THE PREVENTION AND TREATMENT OF DELAY ONSET MUSCLE SORENESS

    Directory of Open Access Journals (Sweden)

    Warin Krityakiarana

    2014-12-01

    Full Text Available Objective: To investigate the effects of ice bag, dynamic stretching, combined ice and dynamic stretching, and control (non-treated on the prevention and treatment of delayed onset muscle soreness (DOMS in biceps muscle. Subjects: Fifty-five participants (aged 18 to 25 years were engaged in this study and randomly assigned into four groups (control group (non-treated (CG, n = 13; ice bag, n = 14; dynamic stretching, n = 14; and combined treatment, n = 14. Method: Before inducing DOMS, the range of motion (ROM and maximum voluntary contraction (MVC were measured. The dynamic stretching was performed before inducing DOMS. Subjects performed biceps eccentric exercise at 110% of the predicted one-repetition maximum (1-RM, for each subject, to induce muscle soreness. Pain, ROM and MVC were assessed at 0, 24, 48, 72, and 96 hours after induction of DOMS. Results: These non-significant results for mode of treatment and time interaction showed that combined treatment, ice bag, or dynamic stretching alone is not effective at significantly reducing the symptoms of DOMS. Conclusion: These results are non-significant, the pattern of the data showed that the combined treatment may be contraindicated in the prevention of DOMS and ice bag or dynamic stretching might be the best choice of treatment. Further investigation is strongly recommended.

  17. Does post-exercise massage treatment reduce delayed onset muscle soreness? A systematic review

    Science.gov (United States)

    Ernst, E.

    1998-01-01

    BACKGROUND: Delayed onset muscle soreness (DOMS) is a frequent problem after unaccustomed exercise. No universally accepted treatment exists. Massage therapy is often recommended for this condition but uncertainty exists about its effectiveness. AIM: To determine whether post-exercise massage alleviates the symptoms of DOMS after a bout of strenuous exercise. METHOD: Various computerised literature searches were carried out and located seven controlled trials. RESULTS: Most of the trials were burdened with serious methodological flaws, and their results are far from uniform. However, most suggest that post-exercise massage may alleviate symptoms of DOMS. CONCLUSIONS: Massage therapy may be a promising treatment for DOMS. Definitive studies are warranted. 


 PMID:9773168

  18. CONTROLLABILITY OF A CLASS OF HYBRID DYNAMIC SYSTEMS ( Ⅱ )--SINGLE TIME-DELAY CASE

    Institute of Scientific and Technical Information of China (English)

    谢广明; 王龙; 叶庆凯

    2003-01-01

    The controllability for switched linear systems with time-delay in controls isfirst investigated. The whole work contains three parts. This is the second part. The definition and determination of controllability of switched linear systems with single time-delay in control functions is mainly investigated. The sufficient and necessary conditions for the oneperiodic, multiple-periodic controllability of periodic-type systems and controllability of periodic systems are presented, respectively.

  19. Stability Analysis and H∞ Output Tracking Control for Linear Systems with Time-Varying Delays

    Directory of Open Access Journals (Sweden)

    K. H. Kim

    2014-01-01

    Full Text Available The problem of stability analysis and H∞ output tracking control for linear systems with time-varying delays is studied. First, by construction of a newly augmented Lyapunov-Krasovskii functional, a delay-dependent stability criterion for nominal systems with time-varying delays is established in terms of linear matrix inequalities (LMIs. Second, based on the H∞ sense, the proposed method is extended to solve the problem of designing an H∞ output tracking controller to track the output of a given reference model. Finally, three examples are included to show the validity and effectiveness of the presented delay-dependent stability and the H∞ output tracking controller design.

  20. Synchronization analysis of coloured delayed networks under decentralized pinning intermittent control

    Indian Academy of Sciences (India)

    JIANG SHENGQIN; LU XIAOBO

    2016-06-01

    This paper investigates synchronization of coloured delayed networks under decentralized pinning intermittent control. To begin with, the time delays are taken into account in the coloured networks. In addition, we propose a decentralized pinning intermittent control for coloured delayed networks, which is different from that most of pinning intermittent controls are only appliedto the nodes from 1 to l or centralized nodes. Moreover, sufficient conditions are derived to guarantee the synchronization of coloured delayed networks based on Lyapunov stability theorem. Finally, numerical simulations are provided to verify the validity of the obtained results.

  1. Lag synchronization of chaotic systems with time-delayed linear terms via impulsive control

    Indian Academy of Sciences (India)

    Ranchao Wu; Dongxu Cao

    2013-11-01

    In this paper, the lag synchronization of chaotic systems with time-delayed linear terms via impulsive control is investigated. Based on the stability theory of impulsive delayed differential equations, some sufficient conditions are obtained guaranteeing the synchronized behaviours between two delayed chaotic systems. Numerical simulations on time-delayed Lorenz and hyperchaotic Chen systems are also carried out to show the effectiveness of the proposed scheme. Note that under the scheme the chaotic system is controlled only at discrete time instants, and so it reduces the control cost in real applications.

  2. Hopf bifurcation analysis in a dual model of Internet congestion control algorithm with communication delay

    CERN Document Server

    Ding, Dawei; Luo, Xiaoshu; Liu, Yuliang

    2007-01-01

    This paper focuses on the delay induced Hopf bifurcation in a dual model of Internet congestion control algorithms which can be modeled as a time-delay system described by a one-order delay differential equation (DDE). By choosing communication delay as the bifurcation parameter, we demonstrate that the system loses its stability and a Hopf bifurcation occurs when communication delay passes through a critical value. Moreover, the bifurcating periodic solution of system is calculated by means of perturbation methods. Discussion of stability of the periodic solutions involves the computation of Floquet exponents by considering the corresponding Poincare -Lindstedt series expansion. Finally, numerical simulations for verify the theoretical analysis are provided.

  3. Recent results on nonlinear delay control systems in honor of Miroslav Krstic

    CERN Document Server

    Pepe, Pierdomenico; Mazenc, Frederic; Karafyllis, Iasson

    2016-01-01

    This volume collects recent advances in nonlinear delay systems, with an emphasis on constructive generalized Lyapunov and predictive approaches that certify stability properties. The book is written by experts in the field and includes two chapters by Miroslav Krstic, to whom this volume is dedicated. This volume is suitable for all researchers in mathematics and engineering who deal with nonlinear delay control problems and students who would like to understand the current state of the art in the control of nonlinear delay systems.

  4. Guaranteed cost control for uncertain stochastic fuzzy systems with time delay

    Institute of Scientific and Technical Information of China (English)

    ZHANG Huaguang; WANG Yingchun

    2007-01-01

    This paper studies a delay-dependent guaranteed cost control problem for a class of uncertain nonlinear stochastic systems with time delay represented by the Takagi-Sugeno (T-S) fuzzy model with uncertain parameters. The descriptor system method and Gu's inequality are employed to obtain delay-dependent sufficient conditions such that the closed-loop system is asymptotically stable with a certain guaranteed cost control performance. The effectiveness of the proposed method is shown by a simulation example.

  5. Exponential Stabilization of Delay Neutral Systems under Sampled-Data Control

    OpenAIRE

    Seuret, Alexandre; Fridman, Emilia; Richard, Jean-Pierre

    2005-01-01

    International audience; This paper considers the exponential stabilization of delay systems of the neutral type via sampled-data control. The control input of the neutral system can present a delay, constant or variable. The sampling period is not necessarily constant. It is only assumed that the time between to successive sampling instants is bounded. Since the sampling effect (sampling and zero-holder) is equivalent to a variable delay, the resulting system is modelled as a continuous-time ...

  6. Chaos control via TDFC in time-delayed systems: The harmonic balance approach

    Energy Technology Data Exchange (ETDEWEB)

    Vasegh, Nastaran [Faculty of Electrical Engineering, K.N. Toosi University of Technology, PO Box 16315-1355, Tehran (Iran, Islamic Republic of)], E-mail: vasegh@eetd.kntu.ac.ir; Khaki Sedigh, Ali [Faculty of Electrical Engineering, K.N. Toosi University of Technology, PO Box 16315-1355, Tehran (Iran, Islamic Republic of)

    2009-01-12

    This Letter deals with the problem of designing time-delayed feedback controllers (TDFCs) to stabilize unstable equilibrium points and periodic orbits for a class of continuous time-delayed chaotic systems. Harmonic balance approach is used to select the appropriate controller parameters: delay time and feedback gain. The established theoretical results are illustrated via a case study of the well-known Logistic model.

  7. Durations and Delays in Care Seeking, Diagnosis and Treatment Initiation in Uncomplicated Pulmonary Tuberculosis Patients in Mumbai, India.

    Directory of Open Access Journals (Sweden)

    Nerges Mistry

    Full Text Available Timely diagnosis and treatment initiation are critical to reduce the chain of transmission of Tuberculosis (TB in places like Mumbai, where almost 60% of the inhabitants reside in overcrowded slums. This study documents the pathway from the onset of symptoms suggestive of TB to initiation of TB treatment and examines factors responsible for delay among uncomplicated pulmonary TB patients in Mumbai.A population-based retrospective survey was conducted in the slums of 15 high TB burden administrative wards to identify 153 self-reported TB patients. Subsequently in-depth interviews of 76 consenting patients that fit the inclusion criteria were undertaken using an open-ended interview schedule. Mean total, first care seeking, diagnosis and treatment initiation duration and delays were computed for new and retreatment patients. Patients showing defined delays were divided into outliers and non-outliers for all three delays using the median values.The mean duration for the total pathway was 65 days with 29% of patients being outliers. Importantly the mean duration of first care seeking was similar in new (24 days and retreatment patients (25 days. Diagnostic duration contributed to 55% of the total pathway largely in new patients. Treatment initiation was noted to be the least among the three durations with mean duration in retreatment patients twice that of new patients. Significantly more female patients experienced diagnostic delay. Major shift of patients from the private to public sector and non-allopaths to allopaths was observed, particularly for treatment initiation.Achieving positive behavioural changes in providers (especially non-allopaths and patients needs to be considered in TB control strategies. Specific attention is required in counselling of TB patients so that timely care seeking is effected at the time of relapse. Prioritizing improvement of environmental health in vulnerable locations and provision of point of care diagnostics

  8. Enhanced PID Controllers Design Based on Modified Smith Predictor Control for Unstable Process with Time Delay

    Directory of Open Access Journals (Sweden)

    Chengqiang Yin

    2014-01-01

    Full Text Available A two-degree-of-freedom control structure is proposed for a class of unstable processes with time delay based on modified Smith predictor control; the superior performance of disturbance rejection and good robust stability are gained for the system. The set-point tracking controller is designed using the direct synthesis method; the IMC-PID controller for disturbance rejection is designed based on the internal mode control design principle. The controller for set-point response and the controller for disturbance rejection can be adjusted and optimized independently. Meanwhile, the two controllers are designed in the form of PID, which is convenient for engineering application. Finally, simulation examples demonstrate the validity of the proposed control scheme.

  9. Synchronization of Switched Neural Networks With Communication Delays via the Event-Triggered Control.

    Science.gov (United States)

    Wen, Shiping; Zeng, Zhigang; Chen, Michael Z Q; Huang, Tingwen

    2017-10-01

    This paper addresses the issue of synchronization of switched delayed neural networks with communication delays via event-triggered control. For synchronizing coupled switched neural networks, we propose a novel event-triggered control law which could greatly reduce the number of control updates for synchronization tasks of coupled switched neural networks involving embedded microprocessors with limited on-board resources. The control signals are driven by properly defined events, which depend on the measurement errors and current-sampled states. By using a delay system method, a novel model of synchronization error system with delays is proposed with the communication delays and event-triggered control in the unified framework for coupled switched neural networks. The criteria are derived for the event-triggered synchronization analysis and control synthesis of switched neural networks via the Lyapunov-Krasovskii functional method and free weighting matrix approach. A numerical example is elaborated on to illustrate the effectiveness of the derived results.

  10. H∞ Control for Nonlinear Stochastic Systems with Time-Delay and Multiplicative Noise

    Directory of Open Access Journals (Sweden)

    Ming Gao

    2015-01-01

    Full Text Available This paper studies the infinite horizon H∞ control problem for a general class of nonlinear stochastic systems with time-delay and multiplicative noise. The exponential/asymptotic mean square H∞ control design of delayed nonlinear stochastic systems is presented by solving Hamilton-Jacobi inequalities. Two numerical examples are provided to show the effectiveness of the proposed design method.

  11. Integral input-to-state stability of nonlinear control systems with delays

    Energy Technology Data Exchange (ETDEWEB)

    Zhu Wenli [Department of Economics Mathematics, South Western University of Finance and Economics, Chengdu 610074 (China)]. E-mail: zhuwl@swufe.edu.cn; Yi Zhang [Computational Intelligence Laboratory, School of Computer Science and Engineering, University of Electronic Science and Technology of China, Chengdu 610054 (China)]. E-mail: zhangyi@uestc.edu.cn

    2007-10-15

    Integral input-to-state stability is an interesting concept that has been recently introduced to nonlinear control systems. This paper generalizes this concept to nonlinear control systems with delays. These delays can be bounded, unbounded, and even infinite. Theorems for integral input-to-state stability are derived by developing the method of Razumikhin technique in the theory of functional differential equations.

  12. Control of Parameter-Dependent Systems, Spatially-Distributed Systems, and Systems with Delays.

    Science.gov (United States)

    1983-12-01

    commensurate time delays: Stability and stabilization independent of delay," IEEE Transactions on Automatic Control , Vol. AC-27, pp. 367-375, April 1952. 2...34 IEEE Transactions * on Automatic Control , Vol. AC-29, January 1984 (to appear). I 5. E. W. Kamen, P. P. Khargonekar, and A. Tannenbaum, "Pointwise

  13. H∞ Controller Design for Asynchronous Hybrid Systems with Multiple Delays

    Directory of Open Access Journals (Sweden)

    Xiaoqiang Sun

    2016-01-01

    Full Text Available Solutions for the H∞ synthesis problems of asynchronous hybrid systems with input-output delays are proposed. The continuous-time lifting approach of sampled-data systems is extended to a hybrid system with multiple delays, and some feasible formulas to calculate the operators of the equivalent discrete-time (DT system are given. Different from the existing methods derived from symplectic pair theory or by state augmentation, a Lyapunov-Krasovskii functional to solve the synthesis problem is explicitly constructed. The delay-dependent stability conditions we obtained can be described in terms of nonstrict linear matrix inequalities (LMIs, which are much more convenient to be solved by LMI tools.

  14. Time domain passivity controller for 4-channel time-delay bilateral teleoperation.

    Science.gov (United States)

    Rebelo, Joao; Schiele, Andre

    2015-01-01

    This paper presents an extension of the time-domain passivity control approach to a four-channel bilateral controller under the effects of time delays. Time-domain passivity control has been used successfully to stabilize teleoperation systems with position-force and position-position controllers; however, the performance with such control architectures is sub-optimal both with and without time delays. This work extends the network representation of the time-domain passivity controller to the four-channel architecture, which provides perfect transparency to the user without time delay. The proposed architecture is based on modelling the controllers as dependent voltage sources and using only series passivity controllers. The obtained results are shown on a one degree-of-freedom setup and illustrate the stabilization behaviour of the proposed controller when time delay is present in the communication channel.

  15. Microresonator and associated method for producing and controlling photonic signals with a photonic bandgap delay apparatus

    Science.gov (United States)

    Fork, Richard Lynn (Inventor); Jones, Darryl Keith (Inventor); Keys, Andrew Scott (Inventor)

    2000-01-01

    By applying a photonic signal to a microresonator that includes a photonic bandgap delay apparatus having a photonic band edge transmission resonance at the frequency of the photonic signal, the microresonator imparts a predetermined delay to the photonic signal. The photonic bandgap delay apparatus also preferably has a photonic band edge transmission resonance bandwidth which is at least as wide as the bandwidth of the photonic signal such that a uniform delay is imparted over the entire bandwidth of the photonic signal. The microresonator also includes a microresonator cavity, typically defined by a pair of switchable mirrors, within which the photonic bandgap delay apparatus is disposed. By requiring the photonic signal to oscillate within the microresonator cavity so as to pass through the photonic bandgap delay apparatus several times, the microresonator can controllably impart an adjustable delay to the photonic signal.

  16. Response of harmonically and stochastically excited strongly nonlinear oscillators with delayed feedback bang-bang control

    Institute of Scientific and Technical Information of China (English)

    Chang-shui FENG; Wei-qiu ZHU

    2009-01-01

    We studied the response of harmonically and stochastically excited strongly nonlinear oscillators with delayed feedback bang-bang control using the stochastic averaging method. First, the time-delayed feedback bang-bang control force is expressed approximately in terms of the system state variables without time delay. Then the averaged Ito stochastic differential equations for the system are derived using the stochastic averaging method. Finally, the response of the system is obtained by solving the Fokker-Plank-Kolmogorov (FPK) equation associated with the averaged Ito equations. A Duffing oscillator with time-delayed feedback bang-bang control under combined harmonic and white noise excitations is taken as an example to illus-trate the proposed method. The analytical results are confirmed by digital simulation. We found that the time delay in feedback bang-bang control will deteriorate the control effectiveness and cause bifurcation of stochastic jump of Duffing oscillator.

  17. Is it really self-control? Examining the predictive power of the delay of gratification task.

    Science.gov (United States)

    Duckworth, Angela L; Tsukayama, Eli; Kirby, Teri A

    2013-07-01

    This investigation tests whether the predictive power of the delay of gratification task (colloquially known as the "marshmallow test") derives from its assessment of self-control or of theoretically unrelated traits. Among 56 school-age children in Study 1, delay time was associated with concurrent teacher ratings of self-control and Big Five conscientiousness-but not with other personality traits, intelligence, or reward-related impulses. Likewise, among 966 preschool children in Study 2, delay time was consistently associated with concurrent parent and caregiver ratings of self-control but not with reward-related impulses. While delay time in Study 2 was also related to concurrently measured intelligence, predictive relations with academic, health, and social outcomes in adolescence were more consistently explained by ratings of effortful control. Collectively, these findings suggest that delay task performance may be influenced by extraneous traits, but its predictive power derives primarily from its assessment of self-control.

  18. The effect of delay between heat treatment and cold storage on alleviation of chilling injury in banana fruit.

    Science.gov (United States)

    Wang, Haibo; Zhang, Zhaoqi; Xu, Lanying; Huang, Xuemei; Pang, Xuequn

    2012-10-01

    To understand the mechanisms leading to the enhanced chilling resistance of banana by hot-water dipping (HWD, 52 °C for 3 min), we investigated the effect of a 0.5-24 h delay between HWD and cold storage on chilling resistance and the change related to the metabolism of reactive oxygen species (ROS). The HWD-treated fruit with a delay of less than 6 h exhibited markedly less chilling injury than the non-heated control fruit, while a delay more than 6 h resulted in significant loss in chilling resistance. Increased hydrogen peroxide content and rate of superoxide radical production were detected in the fruit at 0.5-1.5 h after HWD treatment, and the levels declined with a longer delay, which may be correlated with the enhanced gene expression levels of the gene coding for a ROS-generating related enzyme, NADPH oxidase (MaNOX). Enhanced activities and gene expression of an ascorbate peroxidase (MaAPX) were recorded in the fruit at 1.5-6 h after the treatment, and after 6 h the ascorbate peroxidase levels decayed to the levels as the control fruit. The higher APX gene expression was maintained in the treated fruit with a 3 h delay during the subsequent cold storage at 7 °C, correlating with the enhanced chilling resistance. The HWD-treated fruit left at ambient temperature up to 6 h prior to cold storage maintained the effect of heat treatment and transiently increased ROS content, and the ascorbate peroxidase activity that occurred 0.5-6 h after the treatment may be correlated with the elevated chilling resistance induced by HWD treatment. Copyright © 2012 Society of Chemical Industry.

  19. Controllability Criteria for Time–Delay Fractional Systems with a Retarded State

    Directory of Open Access Journals (Sweden)

    Sikora Beata

    2016-09-01

    Full Text Available The paper is concerned with time-delay linear fractional systems with multiple delays in the state. A formula for the solution of the discussed systems is presented and derived using the Laplace transform. Definitions of relative controllability with and without constraints for linear fractional systems with delays in the state are formulated. Relative controllability, both with and without constraints imposed on control values, is discussed. Various types of necessary and sufficient conditions for relative controllability and relative U-controllability are established and proved. Numerical examples illustrate the obtained theoretical results.

  20. Robust control of uncertain time delay system: a novel sliding mode control design via LMI

    Institute of Scientific and Technical Information of China (English)

    Qu Shaocheng; Wang Yongji

    2006-01-01

    The sliding mode control problem (SMC) is studied for a class of uncertain delay system in the presence of both parameter uncertainties and external disturbances. A novel virtual feedback control method is presented. Based on Lyapunov theory, sufficient conditions for design of the robust sliding mode plane are derived. Sliding mode controller based on reaching law concept is developed, which is to ensure system trajectories from any initial conditions asymptotically convergent to sliding mode plane. The global asymptotically stability of the closed-loop system is guaranteed. A numerical example with simulation results is given to illustrate the effectiveness of the methodology.

  1. On the Permanence of a Nonautonomous Nicholson's Blowflies Model with Feedback Control and Delay

    Institute of Scientific and Technical Information of China (English)

    LAI Wei-ying

    2011-01-01

    A nonautonomous Nicholson's Blowflies model with feedback control and delay is investigated in this paper.We show that for this system,feedback control variable has no influence on the persistent property of the system.

  2. The Permanence in a Single Species Nonautonomous System with Delays and Feedback Control

    OpenAIRE

    2010-01-01

    We consider a single species nonautonomous system with delays and feedback control. A general criterion on the permanence for all positive solutions is established. The results show that the feedback control does not influence the permanence of species.

  3. Synthesis of nonlinear discrete control systems via time-delay affine Takagi-Sugeno fuzzy models.

    Science.gov (United States)

    Chang, Wen-Jer; Chang, Wei

    2005-04-01

    The affine Takagi-Sugeno (TS) fuzzy model played a more important role in nonlinear control because it can be used to approximate the nonlinear systems more than the homogeneous TS fuzzy models. Besides, it is known that the time delays exist in physical systems and the previous works did not consider the time delay effects in the analysis of affine TS fuzzy models. Hence a parallel distributed compensation based fuzzy controller design issue for discrete time-delay affine TS fuzzy models is considered in this paper. The time-delay effect is considered in the discrete affine TS fuzzy models and the stabilization issue is developed for the nonlinear time-delay systems. Finally, a numerical simulation for a time-delayed nonlinear truck-trailer system is given to show the applications of the present approach.

  4. Improving Delay-Margin of Noncollocated Vibration Control of Piezo-Actuated Flexible Beams via a Fractional-Order Controller

    Directory of Open Access Journals (Sweden)

    Teerawat Sangpet

    2014-01-01

    Full Text Available Noncollocated control of flexible structures results in nonminimum-phase systems because the separation between the actuator and the sensor creates an input-output delay. The delay can deteriorate stability of closed-loop systems. This paper presents a simple approach to improve the delay-margin of the noncollocated vibration control of piezo-actuated flexible beams using a fractional-order controller. Results of real life experiments illustrate efficiency of the controller and show that the fractional-order controller has better stability robustness than the integer-order controller.

  5. Influence analysis of time delay to active mass damper control system using pole assignment method

    Science.gov (United States)

    Teng, J.; Xing, H. B.; Lu, W.; Li, Z. H.; Chen, C. J.

    2016-12-01

    To reduce the influence of time delay on the Active Mass Damper (AMD) control systems, influence analysis of time delay on system poles and stability is applied in the paper. A formula of the maximum time delay for ensuring system stability is established, by which the influence analysis of control gains on system stability is further arisen. In addition, the compensation controller is designed based on the given analysis results and pole assignment. A numerical example and an experiment are illustrated to verify that the performance of time-delay system. The result is consistent to that of the long-time delay control system, as well as to proof the better effectiveness of the new method proposed in this article.

  6. Robust H∞ Control of Neutral System with Time-Delay for Dynamic Positioning Ships

    Directory of Open Access Journals (Sweden)

    Dawei Zhao

    2015-01-01

    Full Text Available Due to the input time-delay existing in most thrust systems of the ships, the robust H∞ controller is designed for the ship dynamic positioning (DP system with time-delay. The input delay system is turned to a neutral time-delay system by a state-derivative control law. The less conservative result is derived for the neutral system with state-derivative feedback by the delay-decomposition approach and linear matrix inequality (LMI. Finally, the numerical simulations demonstrate the asymptotic stability and robustness of the controller and verify that the designed DP controller is effective in the varying environment disturbances of wind, waves, and ocean currents.

  7. Delay-dependent passive control of linear systems with nonlinear perturbation

    Institute of Scientific and Technical Information of China (English)

    Li Caina; Cui Baotong

    2008-01-01

    The problem of delay-dependent passive control of a class of linear systems with nonlinear perturbation and time-varying delay in states is studied. The main idea aims at designing a state-feedback controller such that for a time-varying delay in states, the linear system with nonlinear perturbation remains robustly stable and passive.In the system, the delay is time-varying. And the derivation of delay has the maximum and minimum value. The time-varying nonlinear perturbation is allowed to be norm-bounded. Using the effective linear matrix inequality methodology, the sufficient condition is primarily obtained for the system to have robust stability and passivity.Subsequently the existent condition of a state feedback controller is given, and the explicit expression of the controller is obtained by means of the solution of linear matrix inequalities (LMIs). In the end, a numerical example is given to demonstrate the validity and applicability of the proposed approach.

  8. Effect of Aegle marmelos and Murraya koenigii in treatment of delayed pubertal buffaloes heifers

    Directory of Open Access Journals (Sweden)

    Mohan M. Baitule

    2016-12-01

    Full Text Available Aim: This study aims to study the estrus induction, ovulation, and conception rate of delayed puberty in buffaloes heifers by feeding a herbal plants Aegle marmelos (bael/bili/bhel leaf and Murraya koenigii (Curry leaf. Materials and Methods: Totally, 24 buffalo heifers with delayed puberty were selected for the present study and divided randomly in four equal groups (n=6. Before experiment, all animals were dewormed with albendazole at 10 mg/kg body weight to prevent them from the stress of parasitism. In the present experiment, four group taken and Group I (n=6 treated with A. marmelos, Group II (n=6 treated with M. koenigii, Group III (n=6 treated with mixture of A. marmelos and M. koenigii and fed for 9 days. Group IV (n=6 considered as control and fed with concentrate only. The blood samples were collected from all the animals on day 0 (before treatment, 4, 9 (during treatment, on the day of estrus and day 8 after the onset of estrus. The 10 ml blood was collected from the jugular vein of all the experimental animals for estimation of serum calcium, inorganic phosphorus, and progesterone (P4. The estrus response, ovulation, conception rate along with serum calcium, inorganic phosphorus, and progesterone level were determined by the standard protocol. Results: From Group III 4 heifers, from Group II 3 heifers, and from Group I and IV (Control 2 heifers each, exhibited the estrus. The estrus response was recorded as 33.33%, 50.00%, 75.00%, and 33.33% in Group I, Group II, Group III, and Group IV, respectively. In treatment Group III, serum calcium found significantly more (p<0.05 on day 8 post-estrus as compared to other groups at a similar interval. Inorganic phosphorus and progesterone show no significant difference between groups. The ovulation and conception rates are comparatively better in Group III (75% buffalo heifers than other groups. Conclusion: Herbal supplementation of A. marmelos and M. koenigii in combination, as well as M

  9. Delayed antiretroviral therapy despite integrated treatment for tuberculosis and HIV infection.

    Science.gov (United States)

    Patel, M R; Nana, M; Yotebieng, M; Tabala, M; Behets, F; Van Rie, A

    2014-06-01

    Five primary health care clinics in Kinshasa, Democratic Republic of Congo. To examine timing and predictors of delayed initiation of antiretroviral therapy (ART) during anti-tuberculosis treatment. Prospective observational cohort of adult patients receiving integrated treatment for tuberculosis (TB) and human immunodeficiency virus (HIV) who are expected to initiate ART at 1 month if CD4 count is tuberculosis treatment if subsequently CD4 count is ≤ 350 cells/mm(3) or patient has WHO Clinical Stage 4. Of 492 patients, 235 (47.8%) experienced delayed initiation of ART: 171 (72.8%) initiated ART late, after a median delay of 12 days (interquartile range [IQR] 4-27) and 64 (27.2%) never initiated ART. Contraindication to any antiretroviral drug (aOR 2.91, 95%CI 1.22-6.95), lower baseline CD4 count (aOR 1.20, 95%CI 1.08-1.33/100 cells/mm(3)), TB drug intolerance (aOR 1.93, 95%CI 1.23-3.02) and non-disclosure of HIV infection (aOR 1.50, 95%CI 1.03-2.18) predicted delayed ART initiation. Despite fully integrated treatment, half of all patients experienced delayed ART initiation. Pragmatic approaches to ensure timely ART initiation in those at risk of delayed ART initiation are needed.

  10. Synchronization of Different Fractional Order Time-Delay Chaotic Systems Using Active Control

    Directory of Open Access Journals (Sweden)

    Jianeng Tang

    2014-01-01

    Full Text Available Chaos synchronization of different fractional order time-delay chaotic systems is considered. Based on the Laplace transform theory, the conditions for achieving synchronization of different fractional order time-delay chaotic systems are analyzed by use of active control technique. Then numerical simulations are provided to verify the effectiveness and feasibility of the developed method. At last, effects of the fraction order and the time delay on synchronization are further researched.

  11. Synchronization of Different Fractional Order Time-Delay Chaotic Systems Using Active Control

    OpenAIRE

    Jianeng Tang

    2014-01-01

    Chaos synchronization of different fractional order time-delay chaotic systems is considered. Based on the Laplace transform theory, the conditions for achieving synchronization of different fractional order time-delay chaotic systems are analyzed by use of active control technique. Then numerical simulations are provided to verify the effectiveness and feasibility of the developed method. At last, effects of the fraction order and the time delay on synchronization are further researched.

  12. Choice between delayed food and immediate opioids in rats: treatment effects and individual differences.

    Science.gov (United States)

    Panlilio, Leigh V; Secci, Maria E; Schindler, Charles W; Bradberry, Charles W

    2017-09-04

    Addiction involves maladaptive choice behavior in which immediate drug effects are valued more than delayed nondrug rewards. To model this behavior and extend our earlier work with the prescription opioid oxycodone, we allowed rats to choose between immediate intravenous delivery of the short-acting opioid remifentanil and delayed delivery of highly palatable food pellets. Treatment drugs were tested on a baseline where remifentanil was preferred over food. Treatment with a high dose of the opioid antagonist naltrexone decreased but did not reverse the preference for remifentanil. Treatment with the serotonin 5-HT2C agonist lorcaserin decreased remifentanil and food self-administration nonselectively. Across conditions in which the alternative to delayed food was either a moderate dose of oxycodone, a moderate or high dose of remifentanil, a smaller more immediate delivery of food, or timeout with no primary reinforcement, choice was determined by both the length of the delay and the nature of the alternative option. Delayed food was discounted most steeply when the alternative was a high dose of remifentanil, which was preferred over food when food was delayed by 30 s or more. Within-subject comparisons showed no evidence for trait-like impulsivity or sensitivity to delay across these conditions. Choice was determined more by the current contingencies of reinforcement than by innate individual differences. This finding suggests that people might develop steep delay-discounting functions because of the contingencies in their environment, and it supports the use of contingency management to enhance the relative value of delayed nondrug reinforcers.

  13. Patient ignorance is the main reason for treatment delay in primary rhegmatogenous retinal detachment in The Netherlands

    NARCIS (Netherlands)

    Goezinne, F.; Heij, La E.C.; Berendschot, T.; Tahzib, N.G.; Koetsier, L.S.; Hoevenaars, J.; Liem, A.T.A.; Kijlstra, A.; Webers, C.A.B.; Hendrikse, F.

    2009-01-01

    Aims Treatment delay of progressive vision-threatening conditions should be minimal. In this study, the treatment delay of patients with a rhegmatogenous retinal detachment (RRD) undergoing retinal detachment surgery was quantified, and causes for this delay were evaluated. Materials and methods Con

  14. Robust H∞ control for uncertain stochastic saturating systems with time delays

    Institute of Scientific and Technical Information of China (English)

    谢立; 何星; 张卫东; 许晓鹏

    2004-01-01

    The robust H∞ control problem for uncertain stochastic time-delay systems containing nonlinear actuators is considered. The uncertainties in the systems are assumed to satisfy specific match condition. The time delays exitst in state as well as control input. The new stochastic robust stabilization criterion and a sufficient condition for the existence of stochastic robust stabilizing control law are derived. The delay-independent memoryless robust H∞ controllers are constructed to stabilize the given systems in terms of a group of linear matrix inequalities. A numerical simulation example is presented to show that the proposed approach is valid.

  15. The frequency of missed test results and associated treatment delays in a highly computerized health system

    Science.gov (United States)

    Wahls, Terry L; Cram, Peter M

    2007-01-01

    Background: Diagnostic errors associated with the failure to follow up on abnormal diagnostic studies ("missed results") are a potential cause of treatment delay and a threat to patient safety. Few data exist concerning the frequency of missed results and associated treatment delays within the Veterans Health Administration (VA). Objective: The primary objective of the current study was to assess the frequency of missed results and resulting treatment delays encountered by primary care providers in VA clinics. Methods: An anonymous on-line survey of primary care providers was conducted as part of the health systems ongoing quality improvement programs. We collected information from providers concerning their clinical effort (e.g., number of clinic sessions, number of patient visits per session), number of patients with missed abnormal test results, and the number and types of treatment delays providers encountered during the two week period prior to administration of our survey. Results: The survey was completed by 106 out of 198 providers (54 percent response rate). Respondents saw and average of 86 patients per 2 week period. Providers encountered 64 patients with missed results during the two week period leading up to the study and 52 patients with treatment delays. The most common missed results included imaging studies (29 percent), clinical laboratory (22 percent), anatomic pathology (9 percent), and other (40 percent). The most common diagnostic delays were cancer (34 percent), endocrine problems (26 percent), cardiac problems (16 percent), and others (24 percent). Conclusion: Missed results leading to clinically important treatment delays are an important and likely underappreciated source of diagnostic error. PMID:17519017

  16. The frequency of missed test results and associated treatment delays in a highly computerized health system

    Directory of Open Access Journals (Sweden)

    Wahls Terry L

    2007-05-01

    Full Text Available Abstract Background: Diagnostic errors associated with the failure to follow up on abnormal diagnostic studies ("missed results" are a potential cause of treatment delay and a threat to patient safety. Few data exist concerning the frequency of missed results and associated treatment delays within the Veterans Health Administration (VA. Objective: The primary objective of the current study was to assess the frequency of missed results and resulting treatment delays encountered by primary care providers in VA clinics. Methods: An anonymous on-line survey of primary care providers was conducted as part of the health systems ongoing quality improvement programs. We collected information from providers concerning their clinical effort (e.g., number of clinic sessions, number of patient visits per session, number of patients with missed abnormal test results, and the number and types of treatment delays providers encountered during the two week period prior to administration of our survey. Results: The survey was completed by 106 out of 198 providers (54 percent response rate. Respondents saw and average of 86 patients per 2 week period. Providers encountered 64 patients with missed results during the two week period leading up to the study and 52 patients with treatment delays. The most common missed results included imaging studies (29 percent, clinical laboratory (22 percent, anatomic pathology (9 percent, and other (40 percent. The most common diagnostic delays were cancer (34 percent, endocrine problems (26 percent, cardiac problems (16 percent, and others (24 percent. Conclusion: Missed results leading to clinically important treatment delays are an important and likely underappreciated source of diagnostic error.

  17. Design of Dynamic Controller for Neutral Differential Systems with Multiple Delays in Control Input

    Institute of Scientific and Technical Information of China (English)

    Zi-Xin Liu; Shu Lü; Shou-Ming Zhong

    2009-01-01

    The design problem of dynamic output feedback controller for a class of multi-delayed neutral systems has been considered. A criterion for the existence and asymptotic stability of such controller is derived via defining a new integral operator. The criterion is expressed in terms of the linear matrix inequalities (LMIs), which can be checked numerically using the effective LMI toolbox in MATLAB. One numerical example is given to illustrate the proposed design method. Numerical simulation shows that the new design method is valid.

  18. H{sup {infinity}} State Feedback Control for Generalized Continuous/Discrete Time Delay System

    Energy Technology Data Exchange (ETDEWEB)

    Kim, J.H.; Lee, S.K.; Park, H.B. [Kyungpook National University, Taegu (Korea, Republic of); Jeung, E.T. [Changwon National University, Changwon (Korea, Republic of)

    1998-04-01

    In this paper, we consider the problem of designing H{sup {infinity}} state feedback controller for the generalized time delay systems with delayed states and control inputs in continuous and discrete time cases, respectively. The generalized time delay system problems are solved on the basis of LMI(linear matrix inequality) technique considering time delays. The sufficient condition for the existence of controller and H{sup {infinity}} state feedback controller design methods are presented. Also, using some changes of variables and Schur complements, the obtained sufficient condition can be rewritten as a LMI form in terms of transformed variables. The proposed controller design method can be extended into the problem of robust H{sup {infinity}} state feedback controller design method easily. (author). 15 refs.

  19. Experimental Study of H∞ Control of Flexible Plate with Time Delay

    Directory of Open Access Journals (Sweden)

    Tong Zhao

    2013-01-01

    Full Text Available This paper presents theoretical and experimental studies of H∞ control of a flexible plate with time delay. A matrix inequality used for stability analysis is proposed and proved by using the Lyapunov-Krasovskii functional and free-weighting matrix. An H∞ controller is designed based on the matrix inequality and by using the parameter-adjusting method. Three control scenarios are discussed in detail by transforming the problem into parameters optimization: (i controller design when maximum time delay of the system is known; (ii allowable time delay when controller is known; (iii the biggest allowable time delay to guarantee system stability when controller is unknown. Numerical simulations and experiments are also given to demonstrate the validity and feasibility of the proposed methods in this paper.

  20. Stability of adaptive cruise control systems taking account of vehicle response time and delay

    Energy Technology Data Exchange (ETDEWEB)

    Davis, L.C., E-mail: ldavis7@mailaps.org [10244 Normandy Dr., Plymouth, MI 48170 (United States)

    2012-08-20

    The region of string stability of a platoon of adaptive cruise control vehicles, taking into account the delay and response of the vehicle powertrain, is found. An upper bound on the explicit delay time as a function the first-order powertrain response time constant is determined. The system is characterized by a headway time constant, a sensitivity parameter, relative (to the vehicle immediately in front) velocity control, and delayed-velocity feedback or acceleration feedback. -- Highlights: ► I find the region of stability for a realistic adaptive cruise control system. ► Vehicle response time and explicit delay are included in the analysis. ► Delayed-feedback enlarges the parameter space that gives string stability.

  1. Linear matrix inequality approach for synchronization control of fuzzy cellular neural networks with mixed time delays

    Institute of Scientific and Technical Information of China (English)

    P. Balasubramaniam; M. Kalpana; R. Rakkiyappan

    2012-01-01

    Fuzzy cellular neural networks (FCNNs) are special kinds of cellular neural networks (CNNs).Each cell in an FCNN contains fuzzy operating abilities.The entire network is governed by cellular computing laws.The design of FCNNs is based on fuzzy local rules.In this paper,a linear matrix inequality (LMI) approach for synchronization control of FCNNs with mixed delays is investigated.Mixed delays include discrete time-varying delays and unbounded distributed delays.A dynamic control scheme is proposed to achieve the synchronization between a drive network and a response network.By constructing the Lyapunov-Krasovskii functional which contains a triple-integral term and the free-weighting matrices method an improved delay-dependent stability criterion is derived in terms of LMIs.The controller can be easily obtained by solving the derived LMIs.A numerical example and its simulations are presented to illustrate the effectiveness of the proposed method.

  2. A neural network controller for the path tracking control of a hopping robot involving time delays.

    Science.gov (United States)

    Chaitanya, V Sree Krishna; Reddy, M Srinivas

    2006-02-01

    In this paper a hopping robot motion with offset mass is discussed. A mathematical model has been considered and an efficient single layered neural network has been developed to suit to the dynamics of the hopping robot, which ensures guaranteed tracking performance leading to the stability of the otherwise unstable system. The neural network takes advantage of the robot regressor dynamics that expresses the highly nonlinear robot dynamics in a linear form in terms of the known and unknown robot parameters. Time delays in the control mechanism play a vital role in the motion of hopping robots. The present work also enables us to estimate the maximum time delay admissible with out losing the guaranteed tracking performance. Further this neural network does not require offline training procedures. The salient features are highlighted by appropriate simulations.

  3. Effect of treatment delay upon pulp and periodontal healing of traumatic dental injuries -- a review article.

    Science.gov (United States)

    Andreasen, J O; Andreasen, F M; Skeie, A; Hjørting-Hansen, E; Schwartz, O

    2002-06-01

    Based on an analysis of the literature concerning parameters influencing the prognosis of traumatic dental injuries, few studies were found to have examined possible relationships between treatment delay and pulpal and periodontal ligament healing complications. It has been commonly accepted that all injuries should be treated on an emergency basis, for the comfort of the patient and also to reduce wound healing complications. For practical and especially economic reasons, various approaches can be selected to fulfill such a demand, such as acute treatment (i.e. within a few hours), subacute (i.e. within the first 24 h), and delayed (i.e. after the first 24 h). In this survey the consequences of treatment delay on pulpal and periodontal healing have been analyzed for the various dental trauma groups. Applying such a treatment approach to the various types of injuries, the following treatment guidelines can be recommended, based on our present rather limited knowledge of the effect of treatment delay upon wound healing. Crown and crown/root fractures: Subacute or delayed approach. Root fractures: Acute or subacute approach. Alveolar fractures: Acute approach (evidence however questionable). Concussion and subluxation: Subacute approach. Extrusion and lateral luxation: Acute or subacute approach (evidence however questionable). Intrusion: Subacute approach (evidence however questionable). Avulsion: If the tooth is not replanted at the time of injury, acute approach; otherwise subacute. Primary tooth injury: Subacute approach, unless the primary tooth is displaced into the follicle of the permanent tooth or occlusal problems are present; in the latter instances, an acute approach should be chosen. These treatment guidelines are based on very limited evidence from the literature and should be revised as soon as more evidence about the effect of treatment delay becomes available.

  4. Genetic loci associated with delayed clearance of Plasmodium falciparum following artemisinin treatment in Southeast Asia

    Science.gov (United States)

    2013-01-02

    Genetic loci associated with delayed clearance of Plasmodium falciparum following artemisinin treatment in Southeast Asia Shannon Takala-Harrisona...resistant Plasmodium falcipa- rum malaria in western Cambodia could threaten prospects for malaria elimination. Identification of the genetic basis of...molecular markers Artemisinin-based combination therapies (ACTs) are the lead-ing treatment for Plasmodium falciparum malaria (1), and their use with

  5. Delayed results of treatment of paracoccidioidomycosis with amphotericin B plus sulfamides versus amphotericin B alone

    Directory of Open Access Journals (Sweden)

    Neuza Lima Dillon

    1986-08-01

    Full Text Available A delayed evaluation of two groups of patients with paracoccidioidomycosis was carried out. Both groups were treated with amphotericin B, "but one of them was submitted to maintenance treatment with sulfonamides. Statistical analysis showed that treatment is more effective when patients are maintained with sulfonamide drugs.

  6. Resveratrol treatment delays growth plate fusion and improves bone growth in female rabbits.

    Directory of Open Access Journals (Sweden)

    Elham Karimian

    Full Text Available Trans-resveratrol (RES, naturally produced by many plants, has a structure similar to synthetic estrogen diethylstilbestrol, but any effect on bone growth has not yet been clarified. Pre-pubertal ovary-intact New Zealand white rabbits received daily oral administration of either vehicle (control or RES (200 mg/kg until growth plate fusion occurred. Bone growth and growth plate size were longitudinally monitored by X-ray imaging, while at the endpoint, bone length was assessed by a digital caliper. In addition, pubertal ovariectomized (OVX rabbits were treated with vehicle, RES or estradiol cypionate (positive control for 7 or 10 weeks and fetal rat metatarsal bones were cultured in vitro with RES (0.03 µM-50 µM and followed for up to 19 days. In ovary-intact rabbits, sixteen-week treatment with RES increased tibiae and vertebrae bone growth and subsequently improved final length. In OVX rabbits, RES delayed fusion of the distal tibia, distal femur and proximal tibia epiphyses and femur length and vertebral bone growth increased when compared with controls. Histomorphometrical analysis showed that RES-treated OVX rabbits had a wider distal femur growth plate, enlarged resting zone, increased number/size of hypertrophic chondrocytes, increased height of the hypertrophic zone, and suppressed chondrocyte expression of VEGF and laminin. In cultured fetal rat metatarsal bones, RES stimulated growth at 0.3 µM while at higher concentrations (10 μM and 50 μM growth was inhibited. We conclude that RES has the potential to improve longitudinal bone growth. The effect was associated with a delay of growth plate fusion resulting in increased final length. These effects were accompanied by a profound suppression of VEGF and laminin expression suggesting that impairment of growth plate vascularization might be an underlying mechanism.

  7. Noether's Symmetry Theorem for Variational and Optimal Control Problems with Time Delay

    OpenAIRE

    Frederico, G. S. F.; Torres, D. F. M.

    2012-01-01

    We extend the DuBois-Reymond necessary optimality condition and Noether's symmetry theorem to the time delay variational setting. Both Lagrangian and Hamiltonian versions of Noether's theorem are proved, covering problems of the calculus of variations and optimal control with delays.

  8. Pneumatic shutoff and time-delay valve operates at controlled rate

    Science.gov (United States)

    Horning, J. L.; Tomlinson, L. E.

    1966-01-01

    Shutoff and time delay valve, which incorporates a metering spool that moves at constant velocity under pneumatic pressure and spring compression, increases fluid-flow area at a uniform rate. Diaphragm areas, control cavity volume, and bleed-orifice size may be varied to give any desired combination of time delay and spool travel time.

  9. Lag Synchronization of a Class of Time-delayed Chaotic Neural Networks by Impulsive Control

    Directory of Open Access Journals (Sweden)

    Jing Wan

    2013-06-01

    Full Text Available The paper studies the exponential lag synchronization of a class of delayed chaotic neural networks with impulsive effects via the unidirectional linear coupling. Some sufficient conditions are derived by establishing impulsive differential delay inequality and using M-matrix theory. An illustrative example is also provided to show the effectiveness and feasibility of the impulsive control method.  

  10. Dynamic Sliding Mode Control based on Fractional calculus subject to uncertain delay based chaotic pneumatic robot

    OpenAIRE

    P., Sara Gholipour; Sh, Heydar Toosian

    2013-01-01

    This paper considers the chattering problem of sliding mode control while delay in robot manipulator caused chaos in such electromechanical systems. Fractional calculus as a powerful theorem to produce a novel sliding mode; which has a dynamic essence is used for chattering elimination. To realize the control of a class of chaotic systems in master-slave configuration this novel fractional dynamic sliding mode control scheme is presented and examined on delay based chaotic robot in joint and ...

  11. On a new time-delayed feedback control of chaotic systems

    Energy Technology Data Exchange (ETDEWEB)

    Tian Lixin [Nonlinear Scientific Research Center, Faculty of Science, Jiangsu University, Zhenjiang, Jiangsu, 212013 (China)], E-mail: tianlx@ujs.edu.cn; Xu Jun; Sun Mei; Li Xiuming [Nonlinear Scientific Research Center, Faculty of Science, Jiangsu University, Zhenjiang, Jiangsu, 212013 (China)

    2009-01-30

    In this paper, using the idea of the successive dislocation feedback method, a new time-delayed feedback control method called the successive dislocation time-delayed feedback control (SDTDFC) is designed. Firstly, the idea of SDTDFC is introduced. Then some analytic sufficient conditions of the chaos control from the SDTDFC approach are derived for stabilization. Finally, some established results are further clarified via a case study of the Lorenz system with the numerical simulations.

  12. Design of delay observer-based controllers for uncertain time-lag systems

    Directory of Open Access Journals (Sweden)

    Magdi S. Mahmoud

    1999-01-01

    Full Text Available In this paper, the problem of designing observers and observer-based controllers for a class of uncertain systems with input and state time lags is considered. We construct delay-type observers in which both the instantaneous as well as the delayed measurements are utilized. Using feedback control based on the reconstructed state, the behavior of the closed-loop system is investigated. It is established that the uncertain time-lag system with delay observer-based control is asymptotically stable. Expressions for the gain matrices are given based on two linear-matrix inequalities. A numerical example is given to illustrate the theoretical developments.

  13. A Scheduling Algorithm Based on Communication Delay for Wireless Network Control System

    Directory of Open Access Journals (Sweden)

    Jun Wang

    2012-09-01

    Full Text Available In this study, a scheduling algorithm based on communication delay is proposed. This scheduling algorithm can tolerate delay of periodic communication tasks in wireless network control system. It resolves real-time problem of periodic communication tasks in wireless network control system and partly reduces overtime phenomenon of periodic communication tasks caused by delay in wireless network. At the same time, the nonlinear programming model is built for solving scheduling timetable based on the proposed scheduling algorithm. Finally, the performance of the proposed scheduling algorithm is evaluated by an application example. The statistics results show that it is more effective than traditional scheduling algorithms in wireless network control system.

  14. High-Accuracy Tracking Control of Robot Manipulators Using Time Delay Estimation and Terminal Sliding Mode

    Directory of Open Access Journals (Sweden)

    Maolin Jin

    2011-09-01

    Full Text Available A time delay estimation based general framework for trajectory tracking control of robot manipulators is presented. The controller consists of three elements: a time‐delay‐estimation element that cancels continuous nonlinearities of robot dynamics, an injecting element that endows desired error dynamics, and a correcting element that suppresses residual time delay estimation error caused by discontinuous nonlinearities. Terminal sliding mode is used for the correcting element to pursue fast convergence of the time delay estimation error. Implementation of proposed control is easy because calculation of robot dynamics including friction is not required. Experimental results verify high‐accuracy trajectory tracking of industrial robot manipulators.

  15. Controllability of Neutral Fractional Functional Equations with Impulses and Infinite Delay

    Directory of Open Access Journals (Sweden)

    R. Ganesh

    2013-01-01

    Full Text Available We examine the controllability problem for a class of neutral fractional integrodifferential equations with impulses and infinite delay. More precisely, a set of sufficient conditions are derived for the exact controllability of nonlinear neutral impulsive fractional functional equation with infinite delay. Further, as a corollary, approximate controllability result is discussed by assuming compactness conditions on solution operator. The results are established by using solution operator, fractional calculations, and fixed point techniques. In particular, the controllability of nonlinear fractional control systems is established under the assumption that the corresponding linear control system is controllable. Finally, an example is given to illustrate the obtained theory.

  16. Treatment of delayed jejunal perforation after irreducible femoral hernia repair with open abdomen management and delayed abdominal closure with skin flap approximation

    Directory of Open Access Journals (Sweden)

    Fahri Yetişir

    2015-01-01

    Conclusion: Delayed bowel perforation may develop after irreducible femoral hernia surgery. OA management with NPT and DAC with skin flap approximation are optimal treatment modalities for the hemodynamically instable patient.

  17. Various Treatment Techniques on Signs and Symptoms of Delayed Onset Muscle Soreness

    Science.gov (United States)

    Gulick, Dawn T.; Kimura, Iris F.; Sitler, Michael; Paolone, Albert; Kelly, John D.

    1996-01-01

    Eccentric activities are an important component of physical conditioning and everyday activities. Delayed onset muscle soreness (DOMS) can result from strenuous eccentric tasks and can be a limiting factor in motor performance for several days after exercise. An efficacious method of treatment for DOMS would enhance athletic performance and hasten the return to activities of daily living. The purpose of this study was to identify a treatment method which could assist in the recovery of DOMS. In the selection of treatment methods, emphasis was directed toward treatments that could be rendered independently by an individual, therefore making the treatment valuable to an athletic trainer in team setting. DOMS was induced in 70 untrained volunteers via 15 sets of 15 eccentric contractions of the forearm extensor muscles on a Lido isokinetic dynamometer. All subjects performed a pilot exercise bout for a minimum of 9 weeks before data collection to assure that DOMS would be produced. Data were collected on 15 dependent variables: active and passive wrist flexion and extension, forearm girth, limb volume, visual analogue pain scale, muscle soreness index, isometric strength, concentric and eccentric wrist total work, concentric and eccentric angle of peak torque. Data were collected on six occasions: pre- and post-induced DOMS, 20 minutes after treatment, and 24, 48, and 72 hours after treatment. Subjects were randomly assigned to 1 of 7 groups (6 treatment and 1 control). Treatments included a nonsteroidal anti-inflammatory drug, high velocity concentric muscle contractions on an upper extremity ergometer, ice massage, 10-minute static stretching, topical Amica montana ointment, and sublingual A. montana pellets. A 7 × 6 ANOVA with repeated measures on time was performed on the delta values of each of the 15 dependent variables. Significant main effects (p < .05) were found for all of the dependent variables on time only. There were no significant differences between

  18. Active vibration control for nonlinear vehicle suspension with actuator delay via I/O feedback linearization

    Science.gov (United States)

    Lei, Jing; Jiang, Zuo; Li, Ya-Li; Li, Wu-Xin

    2014-10-01

    The problem of nonlinear vibration control for active vehicle suspension systems with actuator delay is considered. Through feedback linearization, the open-loop nonlinearity is eliminated by the feedback nonlinear term. Based on the finite spectrum assignment, the quarter-car suspension system with actuator delay is converted into an equivalent delay-free one. The nonlinear control includes a linear feedback term, a feedforward compensator, and a control memory term, which can be derived from a Riccati equation and a Sylvester equation, so that the effects produced by the road disturbances and the actuator delay are compensated, respectively. A predictor is designed to implement the predictive state in the designed control. Moreover, a reduced-order observer is constructed to solve its physical unrealisability problem. The stability proofs for the zero dynamics and the closed-loop system are provided. Numerical simulations illustrate the effectiveness and the simplicity of the designed control.

  19. DISCRETE VARIABLE STRUCTURE CONTROL OF LINEAR TIME-INVARIANT SYSTEMS WITH TIME DELAY

    Institute of Scientific and Technical Information of China (English)

    蔡国平; 黄金枝

    2002-01-01

    A discrete variable structure control(DVSC) method for the linear time-invariant systems with time delay was presented. The continuous time-delay systems are first transformed into the standard discrete form which contains no time delay by augmenting the state variables. Then the switching surface is determined by using the ideal quasi-sliding mode. As it is difficult for the state trajectory to reach the switching surface exactly, the reaching condition in the form of approach law is used to design the controller. The deduced switching surface and controller contain not only the current step of state feedback but also some former steps of controls. Stability analysis with and without time-delay information is also investigated in this paper. Numerical simulation was carried out to demonstrate the effectiveness and feasibility of the presented control method.

  20. A novel decentralised event-triggered ? control for network control systems with communication delays

    Science.gov (United States)

    Li, Fuqiang; Fu, Jingqi; Du, Dajun

    2016-10-01

    This paper studies a novel decentralised event-triggered ? control for network control systems with communication delays and external disturbances. To overcome the drawbacks that the relative event-triggered mechanism (ETM) generates many events when system is close to the origin and the absolute ETM produces many events when system is far away from the origin, a novel decentralised sampled-data-based ETM is first proposed. By using both local state-dependent and state-independent information, the decentralised ETM can effectively reduce network loads in each channel during the whole operation time. Then, a novel general system model with parameters of the decentralised ETM, communication delays and external disturbances is presented, and sufficient conditions for the ultimately bounded stability and asymptotic stability of the closed-loop system are obtained. Specially, the quantitative relationship between the boundness of the stability region and the parameters of the decentralised ETM is established. Moreover, to overcome the inconvenience of the two-step design method that controllers are required to be given a priori, a co-design scheme is presented to design the decentralised event generators and the output-based controller simultaneously. Finally, numerical examples confirm the effectiveness of the proposed method.

  1. Diclofenac delays micropore closure following microneedle treatment in human subjects.

    Science.gov (United States)

    Brogden, Nicole K; Milewski, Mikolaj; Ghosh, Priyanka; Hardi, Lucia; Crofford, Leslie J; Stinchcomb, Audra L

    2012-10-28

    Drugs absorbed poorly through the skin are commonly delivered via injection with a hypodermic needle, which is painful and increases the risk of transmitting infectious diseases. Microneedles (MNs) selectively and painlessly permeabilize the outermost skin layer, allowing otherwise skin-impermeable drugs to cross the skin through micron-sized pores and reach therapeutic concentrations. However, rapid healing of the micropores prevents further drug delivery, blunting the clinical utility of this unique transdermal technique. We present the first human study demonstrating that micropore lifetime can be extended following MN treatment. Subjects received one-time MN treatment and daily topical application of diclofenac sodium. Micropore closure was measured with impedance spectroscopy, and area under the admittance-time curve (AUC) was calculated. AUC was significantly higher at MN+diclofenac sodium sites vs. placebo, suggesting slower rates of micropore healing. Colorimetry measurements confirmed the absence of local erythema and irritation. This mechanistic human proof-of-concept study demonstrates that micropore lifetime can be prolonged with simple topical administration of a non-specific cyclooxygenase inhibitor, suggesting the involvement of subclinical inflammation in micropore healing. These results will allow for longer patch wear time with MN-enhanced delivery, thus increasing patient compliance and expanding the transdermal field to a wider variety of clinical conditions. Copyright © 2012 Elsevier B.V. All rights reserved.

  2. Non-fragile delay-dependent H∞ control of linear time-delay system with uncertainties in state and control input

    Institute of Scientific and Technical Information of China (English)

    XIAO Shen-ping; WU Min; SHE Jin-hua

    2008-01-01

    The problem of designing a non-fragile delay-dependent H∞ state-feedback controller was investigated for a linear time-delay system with uncertainties in state and control input. First, a recently derived integral inequality method and Lyapunov-Krasovskii stability theory were used to derive new delay-dependent bounded real lemmas for a non-fragile state-feedback controller containing additive or multiplicative uncertainties. They ensure that the closed-loop system is internally stable and has a given H∞ disturbance attenuation level. Then, methods of designing a non-fragile H∞ state feedback controller were presented. No parameters need to be tuned and can be easily determined by solving linear matrix inequalities. Finally, the validity of the proposed methods was demonstrated by a numerical example with the asymptotically stable curves of system state and controller output under the initial condition of x(0)=[1 0 -1]T and h=0.8 time-delay boundary.

  3. Systemic 5-fluorouracil treatment causes a syndrome of delayed myelin destruction in the central nervous system

    Directory of Open Access Journals (Sweden)

    Han Ruolan

    2008-04-01

    Full Text Available Abstract Background Cancer treatment with a variety of chemotherapeutic agents often is associated with delayed adverse neurological consequences. Despite their clinical importance, almost nothing is known about the basis for such effects. It is not even known whether the occurrence of delayed adverse effects requires exposure to multiple chemotherapeutic agents, the presence of both chemotherapeutic agents and the body's own response to cancer, prolonged damage to the blood-brain barrier, inflammation or other such changes. Nor are there any animal models that could enable the study of this important problem. Results We found that clinically relevant concentrations of 5-fluorouracil (5-FU; a widely used chemotherapeutic agent were toxic for both central nervous system (CNS progenitor cells and non-dividing oligodendrocytes in vitro and in vivo. Short-term systemic administration of 5-FU caused both acute CNS damage and a syndrome of progressively worsening delayed damage to myelinated tracts of the CNS associated with altered transcriptional regulation in oligodendrocytes and extensive myelin pathology. Functional analysis also provided the first demonstration of delayed effects of chemotherapy on the latency of impulse conduction in the auditory system, offering the possibility of non-invasive analysis of myelin damage associated with cancer treatment. Conclusions Our studies demonstrate that systemic treatment with a single chemotherapeutic agent, 5-FU, is sufficient to cause a syndrome of delayed CNS damage and provide the first animal model of delayed damage to white-matter tracts of individuals treated with systemic chemotherapy. Unlike that caused by local irradiation, the degeneration caused by 5-FU treatment did not correlate with either chronic inflammation or extensive vascular damage and appears to represent a new class of delayed degenerative damage in the CNS.

  4. Survival outcome of early versus delayed bevacizumab treatment in patients with recurrent glioblastoma.

    Science.gov (United States)

    Hamza, Mohamed A; Mandel, Jacob J; Conrad, Charles A; Gilbert, Mark R; Yung, W K Alfred; Puduvalli, Vinay K; DeGroot, John F

    2014-08-01

    Bevacizumab (BEV) is widely used for treatment of patients with recurrent glioblastoma. It is not known if there are differences in outcome between early versus delayed BEV treatment of recurrent glioblastoma. We examined the relationship between the time of starting BEV treatment and outcomes in patients with recurrent glioblastoma. In this retrospective chart review, we identified patients with recurrent glioblastoma diagnosed between 2005 and 2011 who were treated with BEV alone or BEV-containing regimens. Data was analyzed to determine overall survival (OS) from time of diagnosis and progression free survival (PFS) from time of starting BEV. A total of 298 patients were identified, 112 patients received early BEV, 133 patients received delayed BEV, and 53 patients were excluded because they either progressed within 3 months of radiation or received BEV at the time of diagnosis. There was no significant difference in PFS between patients that received early BEV and those that received delayed BEV (5.2 vs. 4.3 months, p = 0.2). Patients treated with delayed BEV had longer OS when compared to those treated with early BEV (25.9 vs. 20.8 months, p = 0.005). In patients with recurrent glioblastoma, there was no significant difference in PFS from the time of starting BEV between early and delayed BEV. Although patients treated with delayed BEV seemed to have longer OS, a conclusion regarding OS outcome requires further prospective trials. These results may indicate that delaying treatment with BEV is not detrimental for survival of patients with recurrent glioblastoma.

  5. Cost-effectiveness of Early Surgery versus Conservative Treatment with Optional Delayed Meniscectomy for Patients over 45 years with non-obstructive meniscal tears (ESCAPE study) : Protocol of a randomised controlled trial

    NARCIS (Netherlands)

    Van De Graaf, Victor A.; Scholtes, Vanessa A B; Wolterbeek, Nienke; Noorduyn, Julia C A; Neeter, Camille; Van Tulder, Maurits W.; Saris, Daniël B F; De Gast, Arthur; Poolman, Rudolf W.

    2016-01-01

    Introduction Recent studies show similar outcome between surgery and conservative treatment in patients with non-obstructive meniscal tears. However, surgery is still often preferred over conservative treatment. When conservative treatment is non-inferior to surgery, shifting the current standard

  6. Cost-effectiveness of Early Surgery versus Conservative Treatment with Optional Delayed Meniscectomy for Patients over 45 years with non-obstructive meniscal tears (ESCAPE study): protocol of a randomised controlled trial

    NARCIS (Netherlands)

    van de Graaf, Victor A.; Scholtes, Vanessa A.B.; Wolterbeek, Nienke; Noorduyn, Julia C.A.; Neeter, Camille; van Tulder, Maurits W.; Saris, Daniël B.F.; de Gast, Arthur; Poolman, Rudolf W.

    2016-01-01

    Introduction Recent studies show similar outcome between surgery and conservative treatment in patients with non-obstructive meniscal tears. However, surgery is still often preferred over conservative treatment. When conservative treatment is non-inferior to surgery, shifting the current standard

  7. $H^\\infty$ control of systems with multiple I/O delays via decomposition to adobe problems

    NARCIS (Netherlands)

    Meinsma, Gjerrit; Mirkin, Leonid

    In this paper, the standard (four-block) $H^\\infty$ control problem for systems with multiple input-output delays in the feedback loop is studied. The central idea is to see the multiple delay operator as a special series connection of elementary delay operators, called the adobe delay operators.

  8. Relative position coordinated control for spacecraft formation flying with communication delays

    Science.gov (United States)

    Ran, Dechao; Chen, Xiaoqian; Misra, Arun K.; Xiao, Bing

    2017-08-01

    This study addresses a relative position coordinated control problem for spacecraft formation flying subject to directed communication topology. Two different kinds of communication delay cases, including time-varying delays and arbitrarily bounded delays are investigated. Using the backstepping control technique, two virtual velocity control inputs are firstly designed to achieve coordinated position tracking for the kinematic subsystem. Furthermore, a hyperbolic tangent function is introduced to guarantee the boundedness of the virtual controller. Then, a finite-time control algorithm is designed for the dynamic subsystem. It can guarantee that the virtual velocity can be followed by the real velocity after finite time. It is theoretically proved that the proposed control scheme can asymptotically stabilize the closed-loop system. Numerical simulations are further presented that not only highlight closed-loop performance benefiting from the proposed control scheme, but also illustrate its superiority in comparison with conventional formation control schemes.

  9. Collaboration Control of Fractional-Order Multiagent Systems with Sampling Delay

    Directory of Open Access Journals (Sweden)

    Hong-yong Yang

    2013-01-01

    Full Text Available Because of the complexity of the practical environments, many distributed multiagent systems cannot be illustrated with the integer-order dynamics and can only be described with the fractional-order dynamics. In this paper, collaboration control problems of continuous-time networked fractional-order multiagent systems via sampled control and sampling delay are investigated. Firstly, the sampled-data control of multiagent systems with fractional-order derivative operator is analyzed in a directed weighted network ignoring sampling delay. Then, the collaborative control of fractional-order multiagent systems with sampled data and sampling delay is studied in a directed and symmetrical network. Many sufficient conditions for reaching consensus with sampled data and sampling delay are obtained. Some numerical simulations are presented to illustrate the utility of our theoretical results.

  10. Robust H∞ control for uncertain descriptor systems with state and control delay

    Institute of Scientific and Technical Information of China (English)

    Piao Fengxian; Zhang Qingling; Ma Xiuzhen

    2006-01-01

    The problem of robust stabilization for uncertain continuous descriptor system with state and control delay is considered. The time-varying parametric uncertainty is assumed to be norm-bounded. The purpose of the robust stabilization is to design a memoryless state feedback law such that the resulting closed-loop system is robustly stable. A sufficient condition that uncertain continuous descriptor system is robustly stabilizabled by state feedback law is derived in terms of linear matrix inequality (LMI). Finally, a numerical example is provided to demonstrate the application of the proposed method.

  11. Observer-based passive control for descriptor systems with time-delay

    Institute of Scientific and Technical Information of China (English)

    Li Qin; Zhang Qingling; Zhang Yanjuan; An Yichun

    2009-01-01

    This article is concerned with the problem of observer-based passive control for descriptor systems with time delay. Sufficient conditions are first presented for the closed loop systems to be admissible and passive with dissipation ηin the case of that the time delay is known, and two kinds of methods are given to design the expected observer. Then, the case of that the time delay is unknown or uncertain is discussed. The observer-based control gains could be obtained from the solutions of linear matrix inequalities (LMIs). Simulation examples are given to show the effectiveness of the designed methods.

  12. Time-Delayed Feedback Control in a Single-Mode Laser System

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    The effects of time-delayed feedback control in a single-mode laser system is investigated. Using the small time delay approximation, the analytic expression of the stationary probability distribution function of the laser field is obtaincd. The mean, normalized variance and skewness of the steady-state laser intensity are calculated. It is found that the time-delayed feedback control can suppress the intensity fluctuation of the laser system. The numerical simulations are in good agreement with the approximate analytic results.

  13. Robust Continuous-time Generalized Predictive Control for Large Time-delay System

    Institute of Scientific and Technical Information of China (English)

    WEI Huan; PAN Li-deng; ZHEN Xin-ping

    2008-01-01

    A simple delay-predictive continuous-time generalized predictive controller with filter (F - SDCGPC) is proposed. By using modified predictive output signal and cost function, the delay compensator is incorporated in the control law with observer structure, and a filter is added for enhancing robustness. The design of filter does not affect the nominal set-point response, and it is more flexible than the design of observer polynomial. The analysis and simulation results show that the F - SDCGPC has better robustness than the observer structure without filter when large time-delay error is considered.

  14. New Results on Robust Model Predictive Control for Time-Delay Systems with Input Constraints

    Directory of Open Access Journals (Sweden)

    Qing Lu

    2014-01-01

    Full Text Available This paper investigates the problem of model predictive control for a class of nonlinear systems subject to state delays and input constraints. The time-varying delay is considered with both upper and lower bounds. A new model is proposed to approximate the delay. And the uncertainty is polytopic type. For the state-feedback MPC design objective, we formulate an optimization problem. Under model transformation, a new model predictive controller is designed such that the robust asymptotical stability of the closed-loop system can be guaranteed. Finally, the applicability of the presented results are demonstrated by a practical example.

  15. Adaptive neural network tracking control for a class of unknown nonlinear time-delay systems

    Institute of Scientific and Technical Information of China (English)

    Chen Weisheng; Li Junmin

    2006-01-01

    For a class of unknown nonlinear time-delay systems, an adaptive neural network (NN) control design approach is proposed. Backstepping, domination and adaptive bounding design technique are combined to construct a robust memoryless adaptive NN tracking controller. Unknown time-delay functions are approximated by NNs, such that the requirement on the nonlinear time-delay functions is relaxed. Based on Lyapunov-Krasoviskii functional, the sem-global uniformly ultimately boundedness (UUB) of all the signals in the closed-loop system is proved. The arbitrary output tracking accuracy is achieved by tuning the design parameters. The feasibility is investigated by an illustrative simulation example.

  16. PASSIVE CONTROL FOR A CLASS OF UNCERTAIN TIME-DELAY SYSTEMS

    Institute of Scientific and Technical Information of China (English)

    李志虎; 邵惠鹤

    2001-01-01

    This paper focuses on the passive control for a class of linear time-delay system with norm-bounded time-varying parameter uncertainties by using a linear matrix inequality (LMI) approach. A sufficient condition under which the uncertain time-delay system is quadratically stable and strictly passive for all admissible uncertainties was derived. It is shown that the solvability of problem of the robust passive controller design is implied by the feasibility of a linear matrix inequality.

  17. An improved impulsive control approach to nonlinear systems with time-varying delays

    Institute of Scientific and Technical Information of China (English)

    Zhang Hua-Guang; Fu Jie; Ma Tie-Dong; Tong Shao-Cheng

    2009-01-01

    A scheme for the impulsive control of nonlinear systems with time-varying delays is investigated in this paper. Based on the Lyapunov-like stability theorem for impulsive functional differential equations (FDEs), some sufficient conditions are presented to guarantee the uniform asymptotic stability of impulsively controlled nonlinear systems with time-varying delays. These conditions are more effective and less conservative than those obtained. Finally, two numerical examples are provided to demonstrate the effectiveness of the proposed method.

  18. The H2 Control Problem for Quadratically Invariant Systems with Delays

    OpenAIRE

    Lamperski, Andrew; Doyle, John C.

    2013-01-01

    This paper gives a new solution to the output feedback H2 problem for quadratically invariant communication delay patterns. A characterization of all stabilizing controllers satisfying the delay constraints is given and the decentralized H2 problem is cast as a convex model matching problem. The main result shows that the model matching problem can be reduced to a finite-dimensional quadratic program. A recursive state-space method for computing the optimal controller based on vectorization i...

  19. Delayed conifer mortality after fuel reduction treatments: Interactive effects of fuel, fire intensity, and bark beetles

    Science.gov (United States)

    Youngblood, A.; Grace, J.B.; Mciver, J.D.

    2009-01-01

    Many low-elevation dry forests of the western United States contain more small trees and fewer large trees, more down woody debris, and less diverse and vigorous understory plant communities compared to conditions under historical fire regimes. These altered structural conditions may contribute to increased probability of unnaturally severe wildfires, susceptibility to uncharacteristic insect outbreaks, and drought-related mortality. Broad-scale fuel reduction and restoration treatments are proposed to promote stand development on trajectories toward more sustainable structures. Little research to date, however, has quantified the effects of these treatments on the ecosystem, especially delayed and latent tree mortality resulting directly or indirectly from treatments. In this paper, we explore complex hypotheses relating to the cascade of effects that influence ponderosa pine (Pinus ponderosa) and Douglas-fir (Pseudotsuga menziesii) mortality using structural equation modeling (SEM). We used annual census and plot data through six growing seasons after thinning and four growing seasons after burning from a replicated, operational-scale, completely randomized experiment conducted in northeastern Oregon, USA, as part of the national Fire and Fire Surrogate study. Treatments included thin, burn, thin followed by burn (thin+burn), and control. Burn and thin+burn treatments increased the proportion of dead trees while the proportion of dead trees declined or remained constant in thin and control units, although the density of dead trees was essentially unchanged with treatment. Most of the new mortality (96%) occurred within two years of treatment and was attributed to bark beetles. Bark beetle-caused tree mortality, while low overall, was greatest in thin + burn treatments. SEM results indicate that the probability of mortality of large-diameter ponderosa pine from bark beetles and wood borers was directly related to surface fire severity and bole charring, which in

  20. Observer-based passive control for uncertain linear systems with delay in state and control input

    Institute of Scientific and Technical Information of China (English)

    Li Gui-Fang; Li Hui-Ying; Yang Cheng-Wu

    2005-01-01

    This paper deals with the robust passivity synthesis problem for a class of uncertain linear systems with timevarying delay in state and control input. The parameter uncertainties are norm-bounded and allowed to appear in all matrices of the model. The problem aims at designing an observer-based dynamic output-feedback controller that robustly stabilizes the uncertain systems and achieves the strict passivity of closed-loop systems for all admissible uncertainties. By converting the problem at hand into a class of strictly passive control problem for a parameterized system, the explicit solution is established and expressed in terms of a linear matrix inequality. A numerical example is provided to demonstrate the validity of the proposed approach.

  1. Controlled Emissivity Coatings to Delay Ignition of Polyethylene.

    Science.gov (United States)

    Sonnier, Rodolphe; Ferry, Laurent; Gallard, Benjamin; Boudenne, Abderrahim; Lavaud, François

    2015-10-12

    Semi-opaque to opaque films containing small amounts of various aluminium particles to decrease emissivity were easily prepared and coated onto low-density polyethylene (LDPE) sheets. The thermal-radiative properties (reflectivity, transmissivity and absorptivity) of the films were measured and related to the aluminum particles' content, size and nature. Time-to-ignition of samples was assessed using a cone calorimeter at different heat flux values (35, 50 and 75 kW/m²). The coatings allowed significant ignition delay and, in some cases, changed the material behaviour from thermally thin to thick behaviour. These effects are related both to their emissivity and transmissivity. A lower emissivity, which decreases during the degradation, and a lower transmissivity are the key points to ensure an optimal reaction-to-fire.

  2. Controlled Emissivity Coatings to Delay Ignition of Polyethylene

    Directory of Open Access Journals (Sweden)

    Rodolphe Sonnier

    2015-10-01

    Full Text Available Semi-opaque to opaque films containing small amounts of various aluminium particles to decrease emissivity were easily prepared and coated onto low-density polyethylene (LDPE sheets. The thermal-radiative properties (reflectivity, transmissivity and absorptivity of the films were measured and related to the aluminum particles’ content, size and nature. Time-to-ignition of samples was assessed using a cone calorimeter at different heat flux values (35, 50 and 75 kW/m2. The coatings allowed significant ignition delay and, in some cases, changed the material behaviour from thermally thin to thick behaviour. These effects are related both to their emissivity and transmissivity. A lower emissivity, which decreases during the degradation, and a lower transmissivity are the key points to ensure an optimal reaction-to-fire.

  3. Pregnancy-associated breast cancer in Taiwanese women: potential treatment delay and impact on survival.

    Science.gov (United States)

    Yang, Ya-Ling; Chan, K Arnold; Hsieh, Fon-Jou; Chang, Li-Yun; Wang, Ming-Yang

    2014-01-01

    This study investigated the clinicopathologic characteristics and survival of women diagnosed with pregnancy-associated breast cancer (PABC) in Taiwan. PABC is defined as breast cancer diagnosed during pregnancy or within 1 year after obstetric delivery. Our sample of PABC patients (N = 26) included all patients diagnosed at a major medical center in northern Taiwan from 1984 through 2009. Among these patients, 15 were diagnosed during pregnancy and 11 were diagnosed within 1 year after delivery. The comparison group included 104 patients within the same age range as the PABC patients and diagnosed with breast cancer not associated with pregnancy from 2004 through 2009 at the same hospital. Patients' initiating treatment delayed, 5-year and 10-year overall survival were delineated by stratified Kaplan-Meier estimates. Patients' characteristics were associated with initiating treatment delayed was evaluated with multivariate proportional hazards modeling. Antepartum PABC patients were younger and had longer time between diagnosis and treatment initiation than postpartum PABC patients. The predictor of treatment delayed was including birth parity, cancer stage, and pregnancy. The PABC group had larger tumors, more advanced cancer stage, and tumors with less progesterone receptor than the comparison group. The antepartum PABC patients had higher mortality than postpartum PABC and comparison groups within 5 years after diagnosis. Based on these results, we confirmed that pregnant women with breast cancer were more likely to delay treatment. Therefore, we recommend that breast cancer screening should be integrated into the prenatal and postnatal routine visits for early detection of the women's breast problems.

  4. Homoeopathy for delayed onset muscle soreness: a randomised double blind placebo controlled trial.

    Science.gov (United States)

    Vickers, A J; Fisher, P; Smith, C; Wyllie, S E; Lewith, G T

    1997-01-01

    OBJECTIVE: To pilot a model for determining whether a homoeopathic medicine is superior to placebo for delayed onset muscle soreness (DOMS). DESIGN: Randomised double blind placebo controlled trial. SETTING: Physiotherapy department of a homoeopathic hospital. SUBJECTS: Sixty eight healthy volunteers (average age 30; 41% men) undertook a 10 minute period of bench stepping carrying a small weight and were randomised to a homoeopathic medicine or placebo. OUTCOME MEASURES: Mean muscle soreness in the five day period after the exercise test, symptom free days, maximum soreness score, days to no soreness, days on medication. RESULTS: The difference between group means was 0.17 in favour of placebo with 95% confidence intervals +/- 0.50. Similar results were found for other outcome measures. CONCLUSION: The study did not find benefit of the homoeopathic remedy in DOMS. Bench stepping may not be an appropriate model to evaluate the effects of a treatment on DOMS because of wide variation between subject soreness scores. PMID:9429007

  5. Delay-dependent guaranteed cost control for state-delayed system with disturbance and its application to engine idle speed control

    Institute of Scientific and Technical Information of China (English)

    Zhihu WU; Run PEI

    2009-01-01

    This paper proposes a delay-dependent guaranteed cost control scheme for engine idle speed control (ISC) with induction-to-torque delay and external load disturbance.An augmented linearization model of engine at idle speed operating mode was developed based on physical principle and experiment data.To provide a compromise between disturbance rejection and other performance requirements of ISC,a multi-objective cost function upper bound was given,which can help us to take into account the fuel economy and disturbance rejection performance together in ISC.Poles constraint was added to the closed-loop system to guarantee convergence rates of state.The whole optimization solution to ISC can be solved under the framework of LMI.A commercial engine model was utilized to assess the performance of the controller.Simulation results on this model show us that designed controller can achieve desired performance.

  6. Delay in commencing treatment for MDR TB at a specialised TB treatment centre in KwaZulu-Natal.

    Science.gov (United States)

    Narasimooloo, R; Ross, A

    2012-05-08

    Background. According to the National Department of Health (NDoH) guidelines, patients diagnosed with MDR TB must be referred to a specialised treatment centre for initiation of effective therapy. MDR TB is difficult to diagnose and the centralised referral model is beset with challenges that contribute to treatment delays, increased patient morbidity and mortality, and MDR TB nosocomial transmission. Culture and DST takes 8 weeks or longer to obtain results while line probe assays (LPAs) can give a result in hours. LPAs and the GeneXpert MTB/Rif (GX) are ground-breaking discoveries for TB diagnosis. However, they are not easily accessible or available to those needing it, so culture and sensitivity testing remains the gold standard for diagnosis. Aim. This study aimed to assess the delay in the initiation of MDR TB treatment and profiled the patients being referred to a specialised drug-resistant treatment centre in KwaZulu-Natal. Results. Of all the patients, 75% referred showed a mean delay of 12.4 weeks from the date of sputum collection for culture and drug sensitivity testing to the start of treatment. Most of the patients were symptomatic for TB and HIV-positive. Discussion. Our findings suggest that current policy on the initiation of effective treatment needs urgent revision. Staff should be appropriately trained in LPA and GX technology to reduce delays in initiating treatment for MDR TB. The NDoH's plans for rapid diagnosis and reducing the treatment burden on centralised MDR TB management facilities are in the early phases of implementation and will take years to achieve favourable and significant outcomes. Conclusion. There is a significant delay in initiating definitive management for MDR TB.

  7. Optimal disturbances rejection control for singularly perturbed systems with time-delay

    Institute of Scientific and Technical Information of China (English)

    Zhang Baolin; Tang Gongyou; Zhao Yandong

    2008-01-01

    The optimal control design for singularly perturbed time-delay systems affected by external disturbances is considered. Based on the decomposition theory of singular perturbation, the system is decomposed into a fast subsystem without time-delay and a slow time-delay subsystem with disturbances. The optimal disturbances rejection control law of the slow subsystem is obtained by using the successive approximation approach (SAA) and feedforward compensation method. Further, the feedforward and feedback composite control (FFCC) law for the original problem is developed. The FFCC law consists of linear analytic terms and a time-delay compensation term which is the limit of the solution sequence of the adjoint vector equations. A disturbance observer is introduced to make the FFCC law physically realizable. Numerical examples show that the proposed algorithm is effective.

  8. Event-Triggered Faults Tolerant Control for Stochastic Systems with Time Delays

    Directory of Open Access Journals (Sweden)

    Ling Huang

    2016-01-01

    Full Text Available This paper is concerned with the state-feedback controller design for stochastic networked control systems (NCSs with random actuator failures and transmission delays. Firstly, an event-triggered scheme is introduced to optimize the performance of the stochastic NCSs. Secondly, stochastic NCSs under event-triggered scheme are modeled as stochastic time-delay systems. Thirdly, some less conservative delay-dependent stability criteria in terms of linear matrix inequalities for the codesign of both the controller gain and the trigger parameters are obtained by using delay-decomposition technique and convex combination approach. Finally, a numerical example is provided to show the less sampled data transmission and less conservatism of the proposed theory.

  9. Vehicle Delay Estimation for an Isolated Intersection under Actuated Signal Control

    Directory of Open Access Journals (Sweden)

    Shumin Feng

    2014-01-01

    Full Text Available Vehicle delay at an actuated signal control (ASC intersection is analyzed and computed with the aim of reflecting the effects of ASC and optimizing its parameters. The operation characteristics of traffic flows at the intersections serve as the foundation to present the mechanism of vehicle delay under the ASC; given that the arrival of vehicles obeys the Poisson distribution, probability algorithms of vehicle delay are put forward under the semi-ASC and fully ASC depending on discretization of green time. Computation process is illustrated by case study and CORSIM simulation experiments. Finally, the primary results indicate that the appropriate control modes can decrease vehicle delay, which is significantly affected by unit extension. Hopefully, the study will provide useful information for selecting different ASC modes and optimizing signal control parameters.

  10. Cerebral arterial gas embolism following diagnostic bronchoscopy: delayed treatment with hyperbaric oxygen.

    Science.gov (United States)

    Wherrett, Chris G; Mehran, Reza J; Beaulieu, Marc-Andre

    2002-01-01

    To describe a clinical scenario consistent with the diagnosis of cerebral arterial gas embolism (CAGE) acquired during an outpatient bronchoscopy. Our discussion explores the mechanisms and diagnosis of CAGE and the role of hyperbaric oxygen therapy. A diagnostic bronchoscopy was performed on a 70-yr-old man who had had a lobectomy for bronchogenic carcinoma three months earlier. During the direct insufflation of oxygen into the right middle lobe bronchus, the patient became unresponsive and developed subcutaneous emphysema. Immediately, an endotracheal tube and bilateral chest tubes were placed with resultant improvement in his oxygen saturation. However, he remained unresponsive with extensor and flexor responses to pain. Later, in the intensive care unit, he exhibited seizure activity requiring anticonvulsant therapy. Sedation was utilized only briefly to facilitate controlled ventilation. Investigations revealed a negative computerized tomography (CT) scan of the head, a normal cerebral spinal fluid examination, a CT chest that showed evidence of barotrauma, and an abnormal electroencephalogram. Fifty-two hours after the event, he was treated for presumed CAGE with hyperbaric oxygen using a modified United States Navy Table 6. Twelve hours later he had regained consciousness and was extubated. He underwent two more hyperbaric treatments and was discharged from hospital one week after the event, fully recovered. A patient with presumed CAGE made a complete recovery following treatment with hyperbaric oxygen therapy even though it was initiated after a significant time delay.

  11. Hybrid Control of Delay Induced Hopf Bifurcation of Dynamical Small-World Network

    Institute of Scientific and Technical Information of China (English)

    DING Dawei; ZHANG Xiaoyun; WANG Nian; LIANG Dong

    2017-01-01

    In this paper,we focus on the Hopf bifurcation control of a small-world network model with time-delay.With emphasis on the relationship between the Hopf bifurcation and the time-delay,we investigate the effect of time-delay by choosing it as the bifurcation parameter.By using tools from control and bifurcation theory,it is proved that there exists a critical value of time-delay for the stability of the model.When the time-delay passes through the critical value,the model loses its stability and a Hopf bifurcation occurs.To enhance the stability of the model,we propose an improved hybrid control strategy in which state feedback and parameter perturbation are used.Through linear stability analysis,we show that by adjusting the control parameter properly,the onset of Hopf bifurcation of the controlled model can be delayed or eliminated without changing the equilibrium point of the model.Finally,numerical simulations are given to verify the theoretical analysis.

  12. Systematic identification and robust control design for uncertain time delay processes

    DEFF Research Database (Denmark)

    Huusom, Jakob Kjøbsted; Poulsen, Niels Kjølstad; Jørgensen, Sten Bay

    be effectively rejected. We proposed a model predictive control implementation with a dead-band on the penalty of the tracking error as a mean to achieve good closed loop performance on time delay system. We have in simulation tested our controller on a SISO system of an industrial furnace and a MIMO system...... is determined as a constrained optimization which utilizes future predictions of the plant behaviour. Hence the controller has a plant model embedded for state estimation. The achieved closed loop performance is therefore dependent on the quality of the future predictions. The performance of the state estimator...... will provide good set-point tracking performance as long as the prediction horizon of the controller is longer than the delay. Hence a predictive controller would perform better in rejecting known disturbances and changes between operation modes than a PI controller with time-delay compensation as e.g. a Smith...

  13. Design of the Congestion Control for TCP/AQM Network with Time-Delay

    Directory of Open Access Journals (Sweden)

    Dazhong Wang

    2014-01-01

    Full Text Available The purpose of this paper is to design congestion controller for TCP/AQM (transmission control protocol/active queue management networks using model following control; the equilibrium of a class of TCP/AQM networks with time-delay is investigated, and the effect of communication time-delay on the stability is addressed. The features of this design method are bounded property of the internal states of the control system being given and the utility of this control. Such design exhibits important attributes including fast convergence with high accuracy to a desired queue length. Simulation results show that the time-delay nonlinear behavior of the system can be controlled by this method.

  14. Time delay control of power converters: Mixed frame and stationary-frame variants

    DEFF Research Database (Denmark)

    Blaabjerg, Frede; Loh, P.C.; Tang, Y.;

    2008-01-01

    In this paper, a mixed-frame and a stationary-frame time delay current controller are proposed for high precision reference tracking and disturbance rejection of power converters. In particular, the controllers use a proportional-resonant regulator in the stationary frame for regulating...... the positive and negative-sequence fundamental currents, which are known to directly influence the flow of active and reactive power in most energy conversion systems. Moreover, for the tracking or compensation of harmonics, the controllers include a time delay control path in either the synchronous...... or stationary frame, whose inherent feedback and feedforward structure can be proven to resemble a bank of resonant filters in either reference frames. Unlike other existing controllers, the proposed time delay controllers function by introducing multiple resonant peaks at only those harmonic frequencies...

  15. Stability of networked control systems with multi-step delay based on time-division algorithm

    Institute of Scientific and Technical Information of China (English)

    Changlin MA; Huajing FANG

    2005-01-01

    A new control mode is proposed for a networked control system whose network-induced delay is longer than a sampling period. A time-division algorithm is presented to implement the control and for the mathematical modeling of such networked control system. The infinite horizon controller is designed, which renders the networked control system mean square exponentially stable. Simulation results show the validity of the proposed theory.

  16. Early-Onset Bipolar Disorder and Treatment Delay Are Risk Factors for Poor Outcome in Adulthood

    NARCIS (Netherlands)

    Post, Robert M.; Leverich, Gabriele S.; Kupka, Ralph W.; Keck, Paul E.; McElroy, Susan L.; Altshuler, Lori L.; Frye, Mark A.; Luckenbaugh, David A.; Rowe, Michael; Grunze, Heinz; Suppes, Trisha; Nolen, Willem A.

    2010-01-01

    Objective: We examined the influence of age at onset of illness and the delay in time to first treatment on morbidity in adulthood. Method: 529 adult outpatients with a mean age of 42 years, who entered our research network from 1996 through 2001 and who were diagnosed with bipolar disorder accordin

  17. A Comparison of Constant Time Delay Instruction with High and Low Treatment Integrity

    Science.gov (United States)

    Tekin Iftar, Elif; Kurt, Onur; Cetin, Ozlem

    2011-01-01

    Time delay (TD) procedure is an effective procedure in teaching various skills to children with developmental disabilities. Moreover, research has shown that it is used with high treatment integrity (HTI). However, there are several barriers which may prevent delivery instruction with HTI. Therefore, this study was designed to compare the…

  18. Engineering sensorial delay to control phototaxis and emergent collective behaviors

    CERN Document Server

    Mijalkov, Mite; Wehr, Jan; Volpe, Giovanni

    2015-01-01

    Collective motions emerging from the interaction of autonomous mobile individuals play a key role in many phenomena, from the growth of bacterial colonies to the coordination of robotic swarms. For these collective behaviours to take hold, the individuals must be able to emit, sense and react to signals. When dealing with simple organisms and robots, these signals are necessarily very elementary, e.g. a cell might signal its presence by releasing chemicals and a robot by shining light. An additional challenge arises because the motion of the individuals is often noisy, e.g. the orientation of cells can be altered by Brownian motion and that of robots by an uneven terrain. Therefore, the emphasis is on achieving complex and tunable behaviors from simple autonomous agents communicating with each other in robust ways. Here, we show that the delay between sensing and reacting to a signal can determine the individual and collective long-term behavior of autonomous agents whose motion is intrinsically noisy. We exp...

  19. SLIDING MODE CONTROL OF A CLASS OF IT(O) TYPE DISTRIBUTED PARAMETER SYSTEMS WITH DELAY

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Sliding mode control problem of a class of It(o) type partial differential equations with delay is probed. The variable structure controller is designed. The existence of motion of sliding mode is shown. And the character of invariance of sliding control system about uncertainty on the sliding switching surface and stability are analyzed.

  20. Application of CyboCon Advanced Adjustment and Control Software Package in Delayed Coking Unit

    Institute of Scientific and Technical Information of China (English)

    Guo Hua

    2002-01-01

    This article refers to application of the CyboCon software package based upon the model-free adaptive control (MFA) in the 800-kt/a delayed coking unit to realize an advanced adjustment and control strategy for the temperature control of the heater. Operation tests have revealed the convenience in operating system and simplicity in maintenance, leading to good economic benefits.

  1. Compensation Tuning of Analog and Digital Controllers for First Order Plus Time Delay Plants

    Directory of Open Access Journals (Sweden)

    Miluše VÍTEČKOVÁ

    2011-06-01

    Full Text Available The article is devoted to the simple compensation tuning of analog and digital PI and PID controllers for the first order plus time delay plants. The described method makes controller tuning possible so that the control process is non-oscillatory without an overshoot for all input variables. The use is shown in the example.

  2. Control of Thermodynamical System with Input-Dependent State Delays

    DEFF Research Database (Denmark)

    Bendtsen, Jan Dimon; Krstic, Miroslav

    2013-01-01

    We consider control of a cooling system with several consumers that require cooling from a common source. The flow feeding coolant to the consumers can be controlled, but due to significant physical distances between the common source and the consumers, the coolant flow takes a non-negligible amo...

  3. Stability analysis and design of fuzzy control system with bounded uncertain delays

    Institute of Scientific and Technical Information of China (English)

    Jianguo GUO; Juntao LI; Fengqi ZHOU; Jun ZHOU

    2005-01-01

    Fuzzy control problems for systems with bounded uncertain delays were studied.Based on Lyapunov stability theory and matrix theory,a nonlinear state feedback fuzzy controller was designed by linear matrix inequalities (LMI) approach,and the global exponential stability of the closed-loop system was strictly proved.For a fuzzy control system with bounded uncertain delays,under the global exponential stability condition which is reduced to p linear matrix inequalities,the controller guarantees stability performances of state variables.Finally,the simulation shows the validity of the method in this paper.

  4. Robust H {sub {infinity}} output dynamic observer-based control of uncertain time-delay systems

    Energy Technology Data Exchange (ETDEWEB)

    Chen, J.-D. [Department of Electronic Engineering, National Kinmen Institute of Technology, Jinning, Kinmen 892, Taiwan (China)]. E-mail: tdchen@mail.kmit.edu.tw

    2007-01-15

    In this paper, the robustness and H {sub {infinity}} control problems of output dynamic observer-based control for a class of uncertain linear systems with time delay are considered. Under no disturbance input, the asymptotic stabilization for uncertain time-delay systems will be guaranteed. Linear matrix inequality (LMI) optimization approach is used to design three classes of the H {sub {infinity}} output dynamic controls. Based on the results of this paper, the constraint of matrix equality is not necessary for designing the observer-based controls.

  5. Global adaptive output feedback control for a class of nonlinear time-delay systems.

    Science.gov (United States)

    Zhai, Jun-yong; Zha, Wen-ting

    2014-01-01

    This paper addresses the problem of global output feedback control for a class of nonlinear time-delay systems. The nonlinearities are dominated by a triangular form satisfying linear growth condition in the unmeasurable states with an unknown growth rate. With a change of coordinates, a linear-like controller is constructed, which avoids the repeated derivatives of the nonlinearities depending on the observer states and the dynamic gain in backstepping approach and therefore, simplifies the design procedure. Using the idea of universal control, we explicitly construct a universal-type adaptive output feedback controller which globally regulates all the states of the nonlinear time-delay systems.

  6. Robust fault tolerant control of uncertain time-delay linear systems

    Institute of Scientific and Technical Information of China (English)

    2003-01-01

    Robust fault tolerant control for a class of time-delay linear systems with parameter uncertainties is studied, and a time-delay related state feedback control is proposed. On the basis of Lyapunov method , we prove that the proposed control law has integrity against sensor and/or actuator failures if the correspondent sufficient condition can be satisfied. A heuristic algorithm is also provided to facilitate the realization of the fault tolerant control. Finally, a simulation example is presented to show the effectiveness of the proposed approach.

  7. High order single step time delay compensation algorithm for structural active control

    Institute of Scientific and Technical Information of China (English)

    王焕定; 耿淑伟; 王伟

    2002-01-01

    The optimal instantaneous high order single step algorithm for active control is first discussed andthen, the n + 1 time step controlling force vector of the instantaneous optimal algorithm is derived from way of ntime state vector. An estimating algorithm, is developed from this to solve the problem of active control withtime delay compensation. The estimating algorithm based on this high order single step β method (HSM) foun-dation, is proven by simulation and experiment analysis, to be a valid solution to problem of active control withtime delay compensation.

  8. The effect and design of time delay in feedback control for a nonlinear isolation system

    Science.gov (United States)

    Sun, Xiuting; Xu, Jian; Fu, Jiangsong

    2017-03-01

    The optimum value of time delay of active control used in a nonlinear isolation system for different types of external excitation is studied in this paper. Based on the mathematical model of the nonlinear isolator with time-delayed active control, the stability, response and displacement transmissibility of the system are analyzed to obtain the standards for appropriate values of time delay and control strengths. The effects of nonlinearity and time delay on the stability and vibration response are discussed in details. For impact excitation and random excitation, the optimal value of time delay is obtained based on the vibration dissipation time via eigenvalues analysis, while for harmonic excitation, the optimal values are determined based on multiple vibration properties including natural frequency, amplitude death region and effective isolation region by the Averaging Method. This paper establishes the relationship between the parameters and vibration properties of a nonlinear isolation system which provides the guidance for optimizing time-delayed active control for different types of excitation in engineering practices.

  9. Projective Synchronization in Modulated Time-Delayed Chaotic Systems Using an Active Control Approach

    Institute of Scientific and Technical Information of China (English)

    冯存芳; 汪映海

    2011-01-01

    Projective synchronization in modulated time-delayed systems is studied by applying an active control method. Based on the Lyapunov asymptotical stability theorem, the controller and sufficient condition for projective synchronization are calculated analytically. We give a genera./ method with which we can achieve projective synchronization in modulated time-delayed chaotic systems. This method allows us to adjust the desired scaling factor arbitrarily. The effectiveness of our method is confirmed by using the famous delay-differential equations related to optical bistable or hybrid optical bistable devices. Numerical simulations fully support the analytical approach.%Projective synchronization in modulated time-delayed systems is studied by applying an active control method.Based on the Lyapunov asymptotical stability theorem,the controller and sufficient condition for projective synchronization are calculated analytically.We give a general method with which we can achieve projective synchronization in modulated time-delayed chaotic systems.This method allows us to adjust the desired scaling factor arbitrarily.The effectiveness of our method is confirmed by using the famous delay-differential equations related to optical bistable or hybrid optical bistable devices.Numerical simulations fully support the analytical approach.

  10. Information fusion control with time delay for smooth pursuit eye movement.

    Science.gov (United States)

    Zhang, Menghua; Ma, Xin; Qin, Bin; Wang, Guangmao; Guo, Yanan; Xu, Zhigang; Wang, Yafang; Li, Yibin

    2016-05-01

    Smooth pursuit eye movement depends on prediction and learning, and is subject to time delays in the visual pathways. In this paper, an information fusion control method with time delay is presented, implementing smooth pursuit eye movement with prediction and learning as well as solving the problem of time delays in the visual pathways. By fusing the soft constraint information of the target trajectory of eyes and the ideal control strategy, and the hard constraint information of the eye system state equation and the output equation, optimal estimations of the co-state sequence and the control variable are obtained. The proposed control method can track not only constant velocity, sinusoidal target motion, but also arbitrary moving targets. Moreover, the absolute value of the retinal slip reaches steady state after 0.1 sec. Information fusion control method elegantly describes in a function manner how the brain may deal with arbitrary target velocities, how it implements the smooth pursuit eye movement with prediction, learning, and time delays. These two principles allowed us to accurately describe visually guided, predictive and learning smooth pursuit dynamics observed in a wide variety of tasks within a single theoretical framework. The tracking control performance of the proposed information fusion control with time delays is verified by numerical simulation results.

  11. Rate, Delay and Predictors of Hepatitis C Treatment in British Columbia

    OpenAIRE

    Alan Hoi Lun Yau; Terry Lee; Alnoor Ramji; Hin Hin Ko

    2015-01-01

    BACKGROUND: The current treatment rate for chronic hepatitis C virus (HCV) infection is suboptimal despite the availability of efficacious antiviral therapy.OBJECTIVE: To determine the rate, delay and predictors of treatment in patients with chronic HCV infection.METHODS: A retrospective chart review of chronic HCV patients who were being evaluated at a tertiary hepatology centre in Vancouver, British Columbia, was performed.RESULTS: One hundred sixty-four patients with chronic HCV infection ...

  12. Globally Asymptotic Stability of Stochastic Nonlinear Systems with Time-Varying Delays via Output Feedback Control

    Directory of Open Access Journals (Sweden)

    Mingzhu Song

    2016-01-01

    Full Text Available We address the problem of globally asymptotic stability for a class of stochastic nonlinear systems with time-varying delays. By the backstepping method and Lyapunov theory, we design a linear output feedback controller recursively based on the observable linearization for a class of stochastic nonlinear systems with time-varying delays to guarantee that the closed-loop system is globally asymptotically stable in probability. In particular, we extend the deterministic nonlinear system to stochastic nonlinear systems with time-varying delays. Finally, an example and its simulations are given to illustrate the theoretical results.

  13. Fuzzy control systems with time-delay and stochastic perturbation analysis and synthesis

    CERN Document Server

    Wu, Ligang; Shi, Peng

    2015-01-01

    This book presents up-to-date research developments and novel methodologies on fuzzy control systems. It presents solutions to a series of problems with new approaches for the analysis and synthesis of fuzzy time-delay systems and fuzzy stochastic systems, including stability analysis and stabilization, dynamic output feedback control, robust filter design, and model approximation. A set of newly developed techniques such as fuzzy Lyapunov function approach, delay-partitioning, reciprocally convex, cone complementary linearization approach are presented. Fuzzy Control Systems with Time-Delay and Stochastic Perturbation: Analysis and Synthesis is a comprehensive reference for researcher and practitioners working in control engineering, system sciences and applied mathematics, and is also a useful source of information for senior undergraduates and graduates in these areas. The readers will benefit from some new concepts, new models and new methodologies with practical significance in control engineering and si...

  14. On the controllability and observability of discrete-time linear time-delay systems

    Science.gov (United States)

    Liu, Yuan-Ming; Fong, I.-Kong

    2012-04-01

    This article studies the controllability and observability of discrete-time linear time-delay systems, so that the two properties can play a more fundamental role in system analysis before controller and observer design is engaged. Complete definitions of controllability and observability, which imply the stabilisability and detectability, respectively, and determine the feasibility of eigenvalue assignment, are proposed for systems with delays in both state variables and input/output signals. Necessary and sufficient criteria are developed to check the controllability and observability efficiently. The proofs are based on the equivalent expanded system, but the criteria only involve the delays and matrices of the same dimension as the original system. Finally, the duality between the suggested controllability and observability is presented.

  15. Optimal guaranteed cost control for fuzzy descriptor systems with time-varying delay

    Institute of Scientific and Technical Information of China (English)

    Tian Weihua; Zhang Huaguang

    2008-01-01

    Based on the delay-independent rule, the problem of optimal guaranteed cost control for a class of Takagi-Sugeno (T-S) fuzzy descriptor systems with time-varying delay is studied. A linear quadratic cost function is considered as the performance index of the closed-loop system. Sufficient conditions for the existence of guaranteed cost controllers via state feedback are given in terms of linear matrix inequalities (LMIs), and the design of an optimal guaranteed cost controller can be reduced to a convex optimization problem. It is shown that the designed controller not only guarantees the asymptotic stability of the closed-loop fuzzy descriptor delay system, but also provides an optimized upper bound of the guaranteed cost. At last, a numerical example is given to illustrate the effectiveness of the proposed method and the perfect performance of the optimal guaranteed cost controller.

  16. Adaptive fuzzy predictive sliding control of uncertain nonlinear systems with bound-known input delay.

    Science.gov (United States)

    Khazaee, Mostafa; Markazi, Amir H D; Omidi, Ehsan

    2015-11-01

    In this paper, a new Adaptive Fuzzy Predictive Sliding Mode Control (AFP-SMC) is presented for nonlinear systems with uncertain dynamics and unknown input delay. The control unit consists of a fuzzy inference system to approximate the ideal linearization control, together with a switching strategy to compensate for the estimation errors. Also, an adaptive fuzzy predictor is used to estimate the future values of the system states to compensate for the time delay. The adaptation laws are used to tune the controller and predictor parameters, which guarantee the stability based on a Lyapunov-Krasovskii functional. To evaluate the method effectiveness, the simulation and experiment on an overhead crane system are presented. According to the obtained results, AFP-SMC can effectively control the uncertain nonlinear systems, subject to input delays of known bound.

  17. Stability and Stabilization of Networked Control System with Forward and Backward Random Time Delays

    Directory of Open Access Journals (Sweden)

    Ye-Guo Sun

    2012-01-01

    Full Text Available This paper deals with the problem of stabilization for a class of networked control systems (NCSs with random time delay via the state feedback control. Both sensor-to-controller and controller-to-actuator delays are modeled as Markov processes, and the resulting closed-loop system is modeled as a Markovian jump linear system (MJLS. Based on Lyapunov stability theorem combined with Razumikhin-based technique, a new delay-dependent stochastic stability criterion in terms of bilinear matrix inequalities (BMIs for the system is derived. A state feedback controller that makes the closed-loop system stochastically stable is designed, which can be solved by the proposed algorithm. Simulations are included to demonstrate the theoretical result.

  18. Stability Region Analysis of PID and Series Leading Correction PID Controllers for the Time Delay Systems

    Directory of Open Access Journals (Sweden)

    D. RAMA REDDY

    2012-07-01

    Full Text Available This paper describes the stability regions of PID (Proportional +Integral+ Derivative and a new PID with series leading correction (SLC for Networked control system with time delay. The new PID controller has a tuning parameter ‘β’. The relation between β, KP, KI and KD is derived. The effect of plant parameters on stabilityregion of PID controllers and SLC-PID controllers in first-order and second-order systems with time delay are also studied. Finally, an open-loop zero was inserted into the plant-unstable second order system with time delay so that the stability regions of PID and SLC-PID controllers get effectively enlarged. The total system isimplemented using MATLAB/Simulink.

  19. H∞ Control for Uncertain Discrete-Dime Systems with Delays

    Institute of Scientific and Technical Information of China (English)

    潘俊涛

    2007-01-01

    In this paper,a new approach to H∞ controller design for a class of uncertain discrete-time T-S fuzzy systems are proposed.According to the Lyapunov stability theory as well as parallel distributed compensation (PDC),several sufficient conditions for stabilization of considered systems are derived.The design procedures based on LMI for the fuzzy robust controller are given, which guarantee the closed-loop system is asymptotically stable and the effect of disturbance input on the controlled output is reduced to a prescribed level.The simulation results show the proposed method is effective.

  20. PD-like controller for delayed bilateral teleoperation of wheeled robots

    Science.gov (United States)

    Slawiñski, E.; Mut, V.; Santiago, D.

    2016-08-01

    This paper proposes a proportional derivative (PD)-like controller applied to the delayed bilateral teleoperation of wheeled robots with force feedback in face of asymmetric and varying-time delays. In contrast to bilateral teleoperation of manipulator robots, in these systems, there is a mismatch between the models of the master and slave (mobile robot), problem that is approached in this work, where the system stability is analysed. From this study, it is possible to infer the control parameters, depending on the time delay, necessary to assure stability. Finally, the performance of the delayed teleoperation system is evaluated through tests where a human operator drives a 3D simulator as well as a mobile robot for pushing objects.

  1. Adaptive output feedback control for nonlinear time-delay systems using neural network

    Institute of Scientific and Technical Information of China (English)

    Weisheng CHEN; Junmin LI

    2006-01-01

    This paper extends the adaptive neural network (NN) control approaches to a class of unknown output feedback nonlinear time-delay systems. An adaptive output feedback NN tracking controller is designed by backstepping technique. NNs are used to approximate unknown functions dependent on time delay. Delay-dependent filters are introduced for state estimation. The domination method is used to deal with the smooth time-delay basis functions. The adaptive bounding technique is employed to estimate the upper bound of the NN approximation errors. Based on LyapunovKrasovskii functional, the semi-global uniform ultimate boundedness of all the signals in the closed-loop system is proved.The feasibility is investigated by two illustrative simulation examples.

  2. A matrix transformation approach to H∞ control via static output feedback for input delay systems

    OpenAIRE

    Du, B; Shu, Z; Lam, J.

    2009-01-01

    This paper addresses the static output feedback (SOF) H∞ control for continuous-time linear systems with an unknown input delay from a novel perspective. New equivalent characterizations on the stability and H∞ performance of the closed-loop system are established in terms of nonlinear matrix inequalities with free parametrization matrices. These delay-dependent characterizations possess a special monotonic structure, which leads to linearized iterative computation. The effectiveness and meri...

  3. Dynamics of the logistic delay equation with a large spatially distributed control coefficient

    Science.gov (United States)

    Kashchenko, I. S.; Kashchenko, S. A.

    2014-05-01

    The local dynamics of the logistic delay equation with a large spatially distributed control coefficient is asymptotically studied. The basic bifurcation scenarios are analyzed depending on the relations between the parameters of the equation. It is shown that the equilibrium states can lose stability even for asymptotically small values of the delay parameter. The corresponding critical cases can have an infinite dimension. Special nonlinear parabolic equations are constructed whose nonlocal dynamics determine the local behavior of solutions to the original boundary value problem.

  4. Robust H∞ Control for Singular Time-Delay Systems via Parameterized Lyapunov Functional Approach

    Directory of Open Access Journals (Sweden)

    Li-li Liu

    2014-01-01

    Full Text Available A new version of delay-dependent bounded real lemma for singular systems with state delay is established by parameterized Lyapunov-Krasovskii functional approach. In order to avoid generating nonconvex problem formulations in control design, a strategy that introduces slack matrices and decouples the system matrices from the Lyapunov-Krasovskii parameter matrices is used. Examples are provided to demonstrate that the results in this paper are less conservative than the existing corresponding ones in the literature.

  5. Regression model for tuning the PID controller with fractional order time delay system

    OpenAIRE

    S.P. Agnihotri; Laxman Madhavrao Waghmare

    2014-01-01

    In this paper a regression model based for tuning proportional integral derivative (PID) controller with fractional order time delay system is proposed. The novelty of this paper is that tuning parameters of the fractional order time delay system are optimally predicted using the regression model. In the proposed method, the output parameters of the fractional order system are used to derive the regression function. Here, the regression model depends on the weights of the exponential function...

  6. Analysis of a Dynamic Model of Host-parasite Interaction with Delay and Treatment

    Institute of Scientific and Technical Information of China (English)

    ZHAO Yu

    2013-01-01

    In this paper,the dynamic behaviors of a host-parasite model with intracellular delay and drug treatment is investigated.we obtain the basic reproductive ratio Ro,which determined the behaviors of the system.If Ro < 1,the infection-free equilibrium is globally asymptotic stability.If 1 < Ro < 3,the infection equilibrium is locally asymptotic stability.If Ro > 3,by choosing the delay (τ) as a bifurcation parameter,the infection equilibrium bifurcate a family of periodic solution as (τ) crosses a critical value.Furthermore,we give some examples to verify our theoretical results and discuss the sensitivity of the drug efficacy and effect of the delay.In the finally,we give a brief discussion.

  7. Completion time reduction in instantly decodable network coding through decoding delay control

    KAUST Repository

    Douik, Ahmed S.

    2014-12-01

    For several years, the completion time and the decoding delay problems in Instantly Decodable Network Coding (IDNC) were considered separately and were thought to completely act against each other. Recently, some works aimed to balance the effects of these two important IDNC metrics but none of them studied a further optimization of one by controlling the other. In this paper, we study the effect of controlling the decoding delay to reduce the completion time below its currently best known solution. We first derive the decoding-delay-dependent expressions of the users\\' and their overall completion times. Although using such expressions to find the optimal overall completion time is NP-hard, we use a heuristic that minimizes the probability of increasing the maximum of these decoding-delay-dependent completion time expressions after each transmission through a layered control of their decoding delays. Simulation results show that this new algorithm achieves both a lower mean completion time and mean decoding delay compared to the best known heuristic for completion time reduction. The gap in performance becomes significant for harsh erasure scenarios.

  8. Bursting-like motion induced by time-varying delay in an internet congestion control model

    Institute of Scientific and Technical Information of China (English)

    Shu Zhang; Jian Xu

    2012-01-01

    Time delay is an important parameter in the problem of internet congestion control.According to some researches,time delay is not always constant and can be viewed as a periodic function of time for some cases.In this work,an internet congestion control model is considered to study the time-varying delay induced bursting-like motion,which consists of a rapid oscillation burst and quiescent steady state.Then,for the system with periodic delay of small amplitude and low frequency,the method of multiple scales is employed to obtain the amplitude of the oscillation.Based on the expression of the asymptotic solution,it can be found that the relative length of the steady state increases with amplitude of the variation of time delay and decreases with frequency of the variation of time delay.Finally,an effective method to control the bursting-like motion is proposed by introducing a periodic gain parameter with appropriate amplitude.Theoretical results are in agreement with that from numerical method.

  9. Stable Formation Control of Multi-robot System with Communication Delay

    Directory of Open Access Journals (Sweden)

    Limei Jiang

    2012-03-01

    Full Text Available In this paper, a distributed formation control algorithm with delayed information exchange is discussed. The algorithm, which is derived from the flocking behaviour of birds and consensus theory, enables robots to move in formation at a desired velocity. After a series of orthogonal transformations to the original formation system, the upper bound tolerable delay is obtained by using matrix theory and the Nyquist criterion. According to the results, the upper bound tolerable delay depends on the control parameters and eigenvalues of the Laplacian matrix. Therefore, the effect of the parameters on the maximum tolerable delay is analysed, obtaining the following conclusions: the upper bound tolerable delay is proportional to the parameters associated with the velocity, inversely proportional to the parameters associated with the position, and inversely proportional to the difference between the eigenvalue of Laplacian matrix and 1. The simulation results of a four‐ robot formation system with different communication delays verify the effectiveness of the formation control algorithm and the correctness of the theoretical analysis.

  10. Stable Formation Control of Multi-Robot System with Communication Delay

    Directory of Open Access Journals (Sweden)

    Limei Jiang

    2012-03-01

    Full Text Available In this paper, a distributed formation control algorithm with delayed information exchange is discussed. The algorithm, which is derived from the flocking behaviour of birds and consensus theory, enables robots to move in formation at a desired velocity. After a series of orthogonal transformations to the original formation system, the upper bound tolerable delay is obtained by using matrix theory and the Nyquist criterion. According to the results, the upper bound tolerable delay depends on the control parameters and eigenvalues of the Laplacian matrix. Therefore, the effect of the parameters on the maximum tolerable delay is analysed, obtaining the following conclusions: the upper bound tolerable delay is proportional to the parameters associated with the velocity, inversely proportional to the parameters associated with the position, and inversely proportional to the difference between the eigenvalue of Laplacian matrix and 1. The simulation results of a four-robot formation system with different communication delays verify the effectiveness of the formation control algorithm and the correctness of the theoretical analysis.

  11. Survival of Primates in Lethal Septic Shock Following Delayed Treatment with Steroid.

    Science.gov (United States)

    1981-02-26

    TECHNICAL REPORT NO. 142 SURVIVAL OF PRIMATES IN LETHAL SEPTIC SHOCK FOLLOWING DELAYED TREAMENT WIn STEROID L. B. Hinshaw, L. T. Archer, B. K. Belier...controlled-temperature heating pads positioned abovd and beneath the body and a temperature probe placed in the rectum. A tracheal cannula was orally

  12. Qualitative analysis and control of complex neural networks with delays

    CERN Document Server

    Wang, Zhanshan; Zheng, Chengde

    2016-01-01

    This book focuses on the stability of the dynamical neural system, synchronization of the coupling neural system and their applications in automation control and electrical engineering. The redefined concept of stability, synchronization and consensus are adopted to provide a better explanation of the complex neural network. Researchers in the fields of dynamical systems, computer science, electrical engineering and mathematics will benefit from the discussions on complex systems. The book will also help readers to better understand the theory behind the control technique and its design.

  13. Delayed treatment of basilar thrombosis in a patient with a basilar aneurysm: a case report

    Directory of Open Access Journals (Sweden)

    Fakhouri T

    2008-11-01

    Full Text Available Abstract Introduction Acute occlusion of the basilar artery is a neurological emergency that has a high risk of severe disability and mortality. Delayed thrombolysis or endovascular therapy has been performed with some success in patients who present after 3 hours of symptom onset. Here we present the first case of delayed intra-arterial thrombolysis of a basilar artery thrombosis associated with a large saccular aneurysm. Case presentation A 73-year-old Caucasian man with a history of smoking and alcohol abuse presented to the Emergency Department complaining of diplopia and mild slurred speech and who progressed over 12 hours to coma and quadriparesis. He was found to have a large basilar tip aneurysm putting him at high risk for hemorrhage with lytic treatment. Conclusion The treatment options for basilar thrombosis are discussed. Aggressive treatment options should be considered despite long durations of clinical symptoms in basilar thrombosis, even in extremely high risk patients.

  14. Factors contributing to delay in diagnosis and start of treatment of leprosy

    DEFF Research Database (Denmark)

    Nicholls, P.G.; Chhina, N; Aaen, Karen Bro

    2005-01-01

    The objective of our research was to identify factors contributing to delay in diagnosis and start of treatment in leprosy, focussing on patients' narratives of help-seeking behaviour. Our research took place in Purulia, West Bengal, India and in Nilphamari, northern Bangladesh. Between January...... and August 2000, we conducted semi-structured interviews with 104 patients that explored each individual's narrative of help-seeking behaviour and the context of beliefs and attitudes towards leprosy. Subsequently we surveyed 356 patients currently receiving treatment for leprosy and recorded specific...... aspects of each help-seeking action and their reports of local beliefs and attitudes towards leprosy. Delay was estimated from time of first symptoms through to start of effective treatment (mean 18 months, median 9 months in Purulia and mean 20 months, median 12 months in Nilphamari). The number of help...

  15. Design of variable structure controller for uncertain time-delay singular system

    Institute of Scientific and Technical Information of China (English)

    GUO Ji-feng; GAO Cun-chen

    2009-01-01

    To study the approximation theory of real sliding mode and the design of variable structure controller for time.invariant linear uncertain time-delay singular system,the approximation theory of real sliding mode was developed to provide foundation for obtaining sliding mode by equivalent control,and switching functions with integral dynamic compensators and variable structure controllers were designed respectively under two circum-stances that the system without uncertain part was stabilized by delay-dependent and delay-independent linear stale feedback.The design guarantees the asymptotical stablity of switching manifolds,and the variable struc-ture controllers can.force solution trajectory of the system to arrive at the switching manifolds in limited time.A numerical example is given to demonstrate the feasibility and simplicity of the design method.

  16. The Application of Time-Delay Dependent H∞ Control Model in Manufacturing Decision Optimization

    Directory of Open Access Journals (Sweden)

    Haifeng Guo

    2015-01-01

    Full Text Available This paper uses a time-delay dependent H∞ control model to analyze the effect of manufacturing decisions on the process of transmission from resources to capability. We establish a theoretical framework of manufacturing management process based on three terms: resource, manufacturing decision, and capability. Then we build a time-delay H∞ robust control model to analyze the robustness of manufacturing management. With the state feedback controller between manufacturing resources and decision, we find that there is an optimal decision to adjust the process of transmission from resources to capability under uncertain environment. Finally, we provide an example to prove the robustness of this model.

  17. Improved adaptive fuzzy control for MIMO nonlinear time-delay systems

    Institute of Scientific and Technical Information of China (English)

    2011-01-01

    This paper presents an improved observer-based indirect adaptive fuzzy control scheme for multiinput-multioutput (MIMO) nonlinear time-delay systems.The control scheme synthesizes adaptive fuzzy control with adaptive fuzzy identification.An observer is designed to observe the system state,and an identifier is developed to identify the unknown parts of the system.The update laws for parameters utilize two types of errors in the adaptive time-delay fuzzy logic systems,the observation error and the identificat...

  18. Adaptive output feedback control of a class of uncertain nonlinear systems with unknown time delays

    Science.gov (United States)

    Guan, Wei

    2012-04-01

    This article studies the adaptive output feedback control problem of a class of uncertain nonlinear systems with unknown time delays. The systems considered are dominated by a triangular system without zero dynamics satisfying linear growth in the unmeasurable states. The novelty of this article is that a universal-type adaptive output feedback controller is presented to time-delay systems, which can globally regulate all the states of the uncertain systems without knowing the growth rate. An illustrative example is provided to show the applicability of the developed control strategy.

  19. Stability analysis of a noise control system in a duct by using delay differential equation

    Institute of Scientific and Technical Information of China (English)

    Masakazu Haraguchi; Hai Yan Hu

    2009-01-01

    The paper deals with the criteria for the closed-loop stability of a noise control system in a duct. To study the stability of the system, the model of delay differential equation is derived from the propagation of acoustic wave governed by a partial differential equation of hyperbolic type. Then, a simple feedback controller is designed, and its closed-loop stability is analyzed on the basis of the derived model of delay differential equation. The obtained criteria reveal the influence of the controller gain and the positions of a sensor and an actuator on the closed-loop stability. Finally, numerical simulations are presented to support the theoreti-cal results.

  20. Stabilization of a scalar equation with delay in the state and control variables

    OpenAIRE

    SHAYAKHMETOVA LILIYA VLADIMIROVNA; KHARITONOV VLADIMIR LEONIDOVICH

    2014-01-01

    The contribution is dedicated to the stabilization problem of systems with input and state delay. We derive a stabilizing control law for the case of a scalar equation with several state and two input delays. We start with a control law of the form, where the right hand side contains future values of the state predicted by Cauchy formula. The presented control law is of the form of an integral equation. It is shown that the characteristic function of the closed-loop system consists of two fac...

  1. Delay-independent robust guaranteed-cost control for uncertain linear neutral systems

    Institute of Scientific and Technical Information of China (English)

    Li Hongfei; Zhou Jun

    2007-01-01

    This article concerns the delay-independent guaranteed-cost control problem via memoryless state feedback for a class of neutral-type systems with structural uncertainty and a given quadratic cost function. New delay-independent conditions for the existence of the guaranteed-cost controller are presented in the term of LMIs. An algorithm involving optimization is proposed to design a controller achieving an optimal guaranteed-cost, such that, the system can be stabilized for all admissible uncertainties. A numerical example is provided to illustrate the feasibility of the proposed method.

  2. Delays before Diagnosis and Initiation of Treatment in Patients Presenting to Mental Health Services with Bipolar Disorder.

    Directory of Open Access Journals (Sweden)

    Rashmi Patel

    Full Text Available Bipolar disorder is a significant cause of morbidity and mortality. Although existing treatments are effective, there is often a substantial delay before diagnosis and treatment initiation. We sought to investigate factors associated with the delay before diagnosis of bipolar disorder and the onset of treatment in secondary mental healthcare.Retrospective cohort study using anonymised electronic mental health record data from the South London and Maudsley NHS Foundation Trust (SLaM Biomedical Research Centre (BRC Case Register on 1364 adults diagnosed with bipolar disorder between 2007 and 2012. The following predictor variables were analysed in a multivariable Cox regression analysis: age, gender, ethnicity, compulsory admission to hospital under the UK Mental Health Act, marital status and other diagnoses prior to bipolar disorder. The outcomes were time to recorded diagnosis from first presentation to specialist mental health services (the diagnostic delay, and time to the start of appropriate therapy (treatment delay.The median diagnostic delay was 62 days (interquartile range: 17-243 and median treatment delay was 31 days (4-122. Compulsory hospital admission was associated with a significant reduction in both diagnostic delay (hazard ratio 2.58, 95% CI 2.18-3.06 and treatment delay (4.40, 3.63-5.62. Prior diagnoses of other psychiatric disorders were associated with increased diagnostic delay, particularly alcohol (0.48, 0.33-0.41 and substance misuse disorders (0.44, 0.31-0.61. Prior diagnosis of schizophrenia and psychotic depression were associated with reduced treatment delay.Some individuals experience a significant delay in diagnosis and treatment of bipolar disorder after initiation of specialist mental healthcare, particularly those who have prior diagnoses of alcohol and substance misuse disorders. These findings highlight a need for further study on strategies to better identify underlying symptoms and offer appropriate treatment

  3. Tuning of an optimal fuzzy PID controller with stochastic algorithms for networked control systems with random time delay.

    Science.gov (United States)

    Pan, Indranil; Das, Saptarshi; Gupta, Amitava

    2011-01-01

    An optimal PID and an optimal fuzzy PID have been tuned by minimizing the Integral of Time multiplied Absolute Error (ITAE) and squared controller output for a networked control system (NCS). The tuning is attempted for a higher order and a time delay system using two stochastic algorithms viz. the Genetic Algorithm (GA) and two variants of Particle Swarm Optimization (PSO) and the closed loop performances are compared. The paper shows that random variation in network delay can be handled efficiently with fuzzy logic based PID controllers over conventional PID controllers.

  4. ON THE PERSISTENT PROPERTY OF A DELAYED NON-AUTONOMOUS SCHOENER MODEL WITH FEEDBACK CONTROL

    Institute of Scientific and Technical Information of China (English)

    2011-01-01

    We study a delayed non-autonomous Schoener model with feedback control, which was proposed by Qiming Liu, Rui Xu and Pinghua Yang [8]. By applying a differential inequality and some analysis technique, we show that under some suitable assumptions, the feedback control variable has no influence on the persistent property of the system. Our result improves the existing ones.

  5. PERMANENCE OF A DISCRETE SINGLE SPECIES SYSTEM WITH DELAYS AND FEEDBACK CONTROL

    Institute of Scientific and Technical Information of China (English)

    2011-01-01

    In this paper,a discrete single species system with time delays and feedback control is considered.Sufficient conditions which guarantee the permanence of all positive solutions to this discrete system are obtained.The results show that the feedback control is harmless for the permanence of the species.

  6. Reduced Delay of Gratification and Effortful Control among Young Children with Autism Spectrum Disorders

    Science.gov (United States)

    Faja, Susan; Dawson, Geraldine

    2015-01-01

    We explored internal control of behavior using direct observation and parent report. Previous research has found that both the delay of gratification task and parent-reported effortful control predict later social ability and more positive outcomes in typically developing children. Children with autism spectrum disorder have previously been…

  7. Multiagent System-Based Distributed Coordinated Control for Radial DC Microgrid Considering Transmission Time Delays

    DEFF Research Database (Denmark)

    Dou, Chun-Xia; Yue, Dong; Guerrero, Josep M.

    2017-01-01

    This paper focuses on a multi-agent based distributed coordinated control for radial DC microgrid considering trans-mission time delays. Firstly, a two-level multi-agent system is constructed, where local control is formulated based on local states and executed by means of the first-level agent...

  8. Delay times of a LiDAR-guided precision sprayer control system

    Science.gov (United States)

    Accurate flow control systems in triggering sprays against detected targets are needed for precision variable-rate sprayer development. System delay times due to the laser-sensor data buffer, software operation, and hydraulic-mechanical component response were determined for a control system used fo...

  9. Permanence of a Single Species System with Distributed Time Delay and Feedback Control

    Directory of Open Access Journals (Sweden)

    Yali Shen

    2012-01-01

    Full Text Available We study the permanence of a classofsingle species system with distributed time delay and feedback controls. General criteria on permanence are established in this paper. A very important fact is found in our results; that is, the feedback control is harmless to the permanence of species.

  10. Minimization of shaft oscillations by fuzzy controlled SMES considering time delay

    Energy Technology Data Exchange (ETDEWEB)

    Ali, Mohd Hasan; Dougal, Roger A. [Department of Electrical Engineering, University of South Carolina, 301 South Main Street, Columbia, SC 29208 (United States); Wu, Bin [Department of Electrical and Computer Engineering, Ryerson University, George Vari Engineering and Computing Center, 245 Church Street, Toronto, Ontario M5B 1Z2 (Canada); Tamura, Junji [Department of Electrical and Electronic Engineering, Kitami Institute of Technology, 165 Koen cho, Kitami, Hokkaido 090-8507 (Japan)

    2010-07-15

    This paper analyzes the effect of fuzzy logic-controlled superconductive magnetic energy storage (SMES) on minimizing shaft torsional oscillations of synchronous generators in a multi-machine power system. The proposed fuzzy logic controller has been designed in a very simple way considering only one input variable and one output variable. The time derivative of the total kinetic energy deviation (TKED) of the synchronous generators is used as the global input to the fuzzy controller for SMES switching. The influence of time delay associated with the global input calculation of the fuzzy controller on minimizing shaft torsional oscillations is investigated. Global positioning system (GPS) is proposed for the practical implementation of the calculation of the global input to the fuzzy controller. Simulation results of a balanced fault at different points in a multi-machine power system show that the proposed SMES can minimize the shaft torsional oscillations of synchronous generators well. Moreover, the time delay has an influence on the performance of fuzzy controlled SMES to minimize shaft torsional oscillations. However, even though the performance of fuzzy controlled SMES is somewhat effected by the communication delay, it is clear from the simulation responses that the fuzzy logic-controlled SMES considering typical communication delays can minimize the shaft torsional oscillations of synchronous generators well. (author)

  11. Controllability of Fractional Neutral Stochastic Integro-Differential Systems with Infinite Delay

    Directory of Open Access Journals (Sweden)

    Xichao Sun

    2013-01-01

    Full Text Available This paper is concerned with the controllability of a class of fractional neutral stochastic integro-differential systems with infinite delay in an abstract space. By employing fractional calculus and Sadovskii's fixed point principle without assuming severe compactness condition on the semigroup, a set of sufficient conditions are derived for achieving the controllability result.

  12. Approximate Controllability of Semilinear Neutral Stochastic Integrodifferential Inclusions with Infinite Delay

    Directory of Open Access Journals (Sweden)

    Meili Li

    2015-01-01

    Full Text Available The approximate controllability of semilinear neutral stochastic integrodifferential inclusions with infinite delay in an abstract space is studied. Sufficient conditions are established for the approximate controllability. The results are obtained by using the theory of analytic resolvent operator, the fractional power theory, and the theorem of nonlinear alternative for Kakutani maps. Finally, an example is provided to illustrate the theory.

  13. Tuning algorithms for fractional order internal model controllers for time delay processes

    Science.gov (United States)

    Muresan, Cristina I.; Dutta, Abhishek; Dulf, Eva H.; Pinar, Zehra; Maxim, Anca; Ionescu, Clara M.

    2016-03-01

    This paper presents two tuning algorithms for fractional-order internal model control (IMC) controllers for time delay processes. The two tuning algorithms are based on two specific closed-loop control configurations: the IMC control structure and the Smith predictor structure. In the latter, the equivalency between IMC and Smith predictor control structures is used to tune a fractional-order IMC controller as the primary controller of the Smith predictor structure. Fractional-order IMC controllers are designed in both cases in order to enhance the closed-loop performance and robustness of classical integer order IMC controllers. The tuning procedures are exemplified for both single-input-single-output as well as multivariable processes, described by first-order and second-order transfer functions with time delays. Different numerical examples are provided, including a general multivariable time delay process. Integer order IMC controllers are designed in each case, as well as fractional-order IMC controllers. The simulation results show that the proposed fractional-order IMC controller ensures an increased robustness to modelling uncertainties. Experimental results are also provided, for the design of a multivariable fractional-order IMC controller in a Smith predictor structure for a quadruple-tank system.

  14. Design of Controllers and Observer-Based Controllers for Time-Delay Singularly Perturbed Systems via Composite Control

    Directory of Open Access Journals (Sweden)

    Juing-Shian Chiou

    2013-01-01

    Full Text Available This paper presents a novel and general approach, which is based on the composite control method, to synthesize the controller and observer-based state feedback to stabilize the singularly perturbed time-delay systems. First, the equivalent models of the original systems and the subsystems reduced via singular perturbation techniques are derived. Through these equivalent models, approximation of the stabilization and observer design for the original systems can be achieved through separate analyses for the slow and fast subsystems via a transformation of block diagonalization.

  15. On the control of bistability in non-contact mode AFM using modulated time delay

    Directory of Open Access Journals (Sweden)

    Kirrou I.

    2014-01-01

    Full Text Available We study the control of bistability in non-contact mode AFM using time delay with modulated feedback gain. We consider that the tip-sample interaction force is described by Lennard-Jones potential and the equation of motion is modeled by single degree of freedom system. Perturbation analysis is performed to obtain the modulation equations of the slow dynamic. The influence of the modulated time delay on the nonlinear characteristic of the frequency response is analyzed and the evolution of the bistability region in the modulated time delay parameter plan is examined. Results show that modulation of the feedback gain can be used to reduce the amplitude of the microcanteliver response and to suppress the bistability regime in large region of the modulated delay parameter space. The analytical predictions are compared to numerical simulations for validation.

  16. Stability Analysis of Networked Control Systems With Aperiodic Sampling and Time-Varying Delay.

    Science.gov (United States)

    Chen, Jie; Meng, Su; Sun, Jian

    2016-12-01

    This paper addresses the stability of networked control systems with aperiodic sampling and time-varying network-induced delay. The sampling intervals are assumed to vary within a known interval. The transmission delay is assumed to belong to a given interval. The closed-loop system is first converted to a discrete-time system with multiple time-varying delays and norm-bounded uncertainties resulting from the variation of the sampling intervals. And then, it is transformed into a delay-free system being form of an interconnection of two subsystems. By utilizing scaled small gain theorem, an asymptotic stability criterion for the closed-loop system is proposed in terms of linear matrix inequality. Finally, numerical examples demonstrate the effectiveness of the proposed method and its advantages over existing methods.

  17. Cross-Layer Control with Worst Case Delay Guarantees in Multihop Wireless Networks

    Directory of Open Access Journals (Sweden)

    Shu Fan

    2016-01-01

    Full Text Available The delay guarantee is a challenge to meet different real-time requirements in applications of backpressure-based wireless multihop networks, and therefore, researchers are interested in the possibility of providing bounded end-to-end delay. In this paper, a new cross-layer control algorithm with worst case delay guarantees is proposed. The utility maximization algorithm is developed using a Lyapunov optimization framework. Virtual queues that ensure the worst case delay of nondropped packets are designed. It is proved through rigorous theoretical analyses and verified by simulations that the time average overall utility achieved by the new algorithm can be arbitrarily close to the optimal solution with finite queue backlogs. The simulation results evaluated with Matlab show that the proposed algorithm achieves higher throughput utility with fewer data dropped compared with the existing work.

  18. The time-delayed inverted pendulum: Implications for human balance control

    Science.gov (United States)

    Milton, John; Cabrera, Juan Luis; Ohira, Toru; Tajima, Shigeru; Tonosaki, Yukinori; Eurich, Christian W.; Campbell, Sue Ann

    2009-06-01

    The inverted pendulum is frequently used as a starting point for discussions of how human balance is maintained during standing and locomotion. Here we examine three experimental paradigms of time-delayed balance control: (1) mechanical inverted time-delayed pendulum, (2) stick balancing at the fingertip, and (3) human postural sway during quiet standing. Measurements of the transfer function (mechanical stick balancing) and the two-point correlation function (Hurst exponent) for the movements of the fingertip (real stick balancing) and the fluctuations in the center of pressure (postural sway) demonstrate that the upright fixed point is unstable in all three paradigms. These observations imply that the balanced state represents a more complex and bounded time-dependent state than a fixed-point attractor. Although mathematical models indicate that a sufficient condition for instability is for the time delay to make a corrective movement, τn, be greater than a critical delay τc that is proportional to the length of the pendulum, this condition is satisfied only in the case of human stick balancing at the fingertip. Thus it is suggested that a common cause of instability in all three paradigms stems from the difficulty of controlling both the angle of the inverted pendulum and the position of the controller simultaneously using time-delayed feedback. Considerations of the problematic nature of control in the presence of delay and random perturbations ("noise") suggest that neural control for the upright position likely resembles an adaptive-type controller in which the displacement angle is allowed to drift for small displacements with active corrections made only when θ exceeds a threshold. This mechanism draws attention to an overlooked type of passive control that arises from the interplay between retarded variables and noise.

  19. Temperature Control of Gas Chromatograph Based on Switched Delayed System Techniques

    Directory of Open Access Journals (Sweden)

    Xiao-Liang Wang

    2014-01-01

    Full Text Available We address the temperature control problem of the gas chromatograph. We model the temperature control system of the gas chromatograph into a switched delayed system and analyze the stability by common Lyapunov functional technique. The PI controller parameters can be given based on the proposed linear matrix inequalities (LMIs condition and the designed controller can make the temperature of gas chromatograph track the reference signal asymptotically. An experiment is given to illustrate the effectiveness of the stability criterion.

  20. The Control of high-dimensional Chaos in Time-Delay Systems

    CERN Document Server

    Bünner, M J

    1999-01-01

    We present the control of the high-dimensional chaos, with possibly a large number of positive Lyapunov-exponents, of unknown time-delay systems to an arbitrary goal dynamics. We give an existence-and-uniqueness theorem for the control force. In the case of an unknown system, a formula to compute a model-based control force is derived. We give an example by demonstrating the control of the Mackey-Glass system towards a fixed point and a

  1. GUARANTEED COST CONTROL OF CONTINUOUS-TIME UNCERTAIN SINGULAR SYSTEM WITH BOTH STATE AND INPUT DELAYS

    Institute of Scientific and Technical Information of China (English)

    2009-01-01

    The guaranteed cost control problem for a continuous-time uncertain singular system with state and control delays, and a given quadratic cost function is studied in this paper. Sufficient conditions for the existence of the guaranteed cost controller are derived based on the linear inequality (LMI) approach. A parameterized characterization of the guaranteed cost laws is given in terms of the feasible solutions to a certain LMI, and the cost function of guaranteed cost controller exists an upper bound.

  2. Adaptive Neural Control Design For a Class of Nonlinear Time-delay Systems

    Institute of Scientific and Technical Information of China (English)

    FENG Ling-ling; ZHANG Wei

    2014-01-01

    This paper proposes an indirect adaptive neural control scheme for a class of nonlinear systems with time delays. Based on the backstepping technique and Lyapunov–Krasovskii functional method are combined to construct the indirect adaptive neural controller. The proposed indirect adaptive neural controller guarantees that the state variables converge to a small neighborhood of the origin and all the signals of the closed-loop system are bounded. Finally, an example is used to show the effectiveness of the proposed control strategy.

  3. Pregnancy-associated breast cancer in Taiwanese women: potential treatment delay and impact on survival.

    Directory of Open Access Journals (Sweden)

    Ya-Ling Yang

    Full Text Available This study investigated the clinicopathologic characteristics and survival of women diagnosed with pregnancy-associated breast cancer (PABC in Taiwan. PABC is defined as breast cancer diagnosed during pregnancy or within 1 year after obstetric delivery. Our sample of PABC patients (N = 26 included all patients diagnosed at a major medical center in northern Taiwan from 1984 through 2009. Among these patients, 15 were diagnosed during pregnancy and 11 were diagnosed within 1 year after delivery. The comparison group included 104 patients within the same age range as the PABC patients and diagnosed with breast cancer not associated with pregnancy from 2004 through 2009 at the same hospital. Patients' initiating treatment delayed, 5-year and 10-year overall survival were delineated by stratified Kaplan-Meier estimates. Patients' characteristics were associated with initiating treatment delayed was evaluated with multivariate proportional hazards modeling. Antepartum PABC patients were younger and had longer time between diagnosis and treatment initiation than postpartum PABC patients. The predictor of treatment delayed was including birth parity, cancer stage, and pregnancy. The PABC group had larger tumors, more advanced cancer stage, and tumors with less progesterone receptor than the comparison group. The antepartum PABC patients had higher mortality than postpartum PABC and comparison groups within 5 years after diagnosis. Based on these results, we confirmed that pregnant women with breast cancer were more likely to delay treatment. Therefore, we recommend that breast cancer screening should be integrated into the prenatal and postnatal routine visits for early detection of the women's breast problems.

  4. Time delay controlled annular array transducers for omnidirectional guided wave mode control in plate like structures

    Science.gov (United States)

    Koduru, Jaya P.; Rose, Joseph L.

    2014-10-01

    Guided waves in plate like structures offer several modes with unique characteristics that can be taken advantage for nondestructive inspection applications. Conditions relating to the structure under inspection like the surrounding media, liquid loading, coatings etc require the use of special modes for successful inspection. Therefore, transducers that can excite mode controlled guided waves are essential for defect detection and discrimination in structures. Array transducers with annular elements can generate omnidirectional guided waves in plate like structures. However, the wave modes excited are limited to a particular wavelength governed by the element spacing. This limitation on the annular array transducers can be overcome by controlling the phase at each element relative to one another. In this work, annular array transducer construction techniques are theoretically examined and the optimum phase delays between the annular elements to excite a desired guided wave mode are calculated. A five element comb type annular array transducer is fabricated utilizing 1-3 type piezocomposite material. The mode control capability of the transducer is experimentally verified by selectively exciting the A0 and S0 guided wave modes in an aluminum plate like structure.

  5. Short-term subcutaneous insulin treatment delays but does not prevent diabetes in NOD mice.

    Science.gov (United States)

    Brezar, Vedran; Culina, Slobodan; Gagnerault, Marie-Claude; Mallone, Roberto

    2012-06-01

    Despite encouraging results in the NOD mouse, type 1 diabetes prevention trials using subcutaneous insulin have been unsuccessful. To explain these discrepancies, 3-week-old NOD mice were treated for 7 weeks with subcutaneous insulin at two different doses: a high dose (0.5 U/mouse) used in previous mouse studies; and a low dose (0.005 U/mouse) equivalent to that used in human trials. Effects on insulitis and diabetes were monitored along with immune and metabolic modifications. Low-dose insulin did not have any effect on disease incidence. High-dose treatment delayed but did not prevent diabetes, with reduced insulitis reappearing once insulin discontinued. This effect was not associated with significant immune changes in islet infiltrates, either in terms of cell composition or frequency and IFN-γ secretion of islet-reactive CD8(+) T cells recognizing the immunodominant epitopes insulin B(15-23) and islet-specific glucose-6-phosphatase catalytic subunit-related protein (IGRP)(206-214). Delayed diabetes and insulitis were associated with lower blood glucose and endogenous C-peptide levels, which rapidly returned to normal upon treatment discontinuation. In conclusion, high- but not low-dose prophylactic insulin treatment delays diabetes onset and is associated with metabolic changes suggestive of β-cell "rest" which do not persist beyond treatment. These findings have important implications for designing insulin-based prevention trials.

  6. Robust H ∞ control for uncertain Markovian jump systems with mixed delays

    Science.gov (United States)

    R, Saravanakumar; M Syed, Ali

    2016-07-01

    We scrutinize the problem of robust H ∞ control for a class of Markovian jump uncertain systems with interval time-varying and distributed delays. The Markovian jumping parameters are modeled as a continuous-time finite-state Markov chain. The main aim is to design a delay-dependent robust H ∞ control synthesis which ensures the mean-square asymptotic stability of the equilibrium point. By constructing a suitable Lyapunov-Krasovskii functional (LKF), sufficient conditions for delay-dependent robust H ∞ control criteria are obtained in terms of linear matrix inequalities (LMIs). The advantage of the proposed method is illustrated by numerical examples. The results are also compared with the existing results to show the less conservativeness. Project supported by Department of Science and Technology (DST) under research project No. SR/FTP/MS-039/2011.

  7. Approximate design of optimal tracking controller for time-delay systems

    Institute of Scientific and Technical Information of China (English)

    TANG Gongyou; LI Chao; ZHAO Yandong

    2006-01-01

    Successive approximate design of the optimal tracking controller for linear systems with time-delay is developed. By applying the successive approximation theory of differential equations, the two-point boundary value (TPBV) problem with both time-delay and time-advance terms derived from the original optimal tracking control (OTC) problem is transformed into a sequence of linear TPBV problems without delay and advance terms. The solution sequence of the linear TPBV problems uniformly converges to the solution of the original OTC problem. The obtained OTC law consists of analytic state feedback terms and a compensation term which is the limit of the adjoint vector sequence. The compensation term can be obtained from an iteration formula of adjoint vectors. By using a finite term of the adjoint vector sequence, a suboptimal tracking control law is revealed. Numerical examples show the effectiveness of the algorithm.

  8. An LMI approach to robust H-infinity control for uncertain singular time-delay systems

    Institute of Scientific and Technical Information of China (English)

    Xiaofu JI; Hongye SU; Jian CHU

    2006-01-01

    The problem of robust H-infinity control for a class of uncertain singular time-delay systems is studied in this paper. A new approach is proposed to describe the relationship between slow and fast subsystems of singular time-delay systems, based on which, a sufficient condition is presented for a singular time-delay system to be regular, impulse free and stable with an H-infinity performance. The robust H-infinity control problem is solved and an explicit expression of the desired state-feedback control law is also given. The obtained results are formulated in terms of strict linear matrix inequalities (LMIs) involving no decomposition of system matrices. A numerical example is given to show the effectiveness of the proposed method,

  9. UAS Air Traffic Controller Acceptability Study-2: Effects of Communications Delays and Winds in Simulation

    Science.gov (United States)

    Comstock, James R., Jr.; Ghatas, Rania W.; Consiglio, Maria C.; Chamberlain, James P.; Hoffler, Keith D.

    2016-01-01

    This study evaluated the effects of Communications Delays and Winds on Air Traffic Controller ratings of acceptability of horizontal miss distances (HMDs) for encounters between UAS and manned aircraft in a simulation of the Dallas-Ft. Worth East-side airspace. Fourteen encounters per hour were staged in the presence of moderate background traffic. Seven recently retired controllers with experience at DFW served as subjects. Guidance provided to the UAS pilots for maintaining a given HMD was provided by information from self-separation algorithms displayed on the Multi-Aircraft Simulation System. Winds tested did not affect the acceptability ratings. Communications delays tested included 0, 400, 1200, and 1800 msec. For longer communications delays, there were changes in strategy and communications flow that were observed and reported by the controllers. The aim of this work is to provide useful information for guiding future rules and regulations applicable to flying UAS in the NAS.

  10. Robust H∞control for uncertain Markovian jump systems with mixed delays

    Institute of Scientific and Technical Information of China (English)

    R Saravanakumar; M Syed Ali‡

    2016-01-01

    We scrutinize the problem of robust H∞control for a class of Markovian jump uncertain systems with interval time-varying and distributed delays. The Markovian jumping parameters are modeled as a continuous-time finite-state Markov chain. The main aim is to design a delay-dependent robust H∞control synthesis which ensures the mean-square asymptotic stability of the equilibrium point. By constructing a suitable Lyapunov–Krasovskii functional (LKF), sufficient conditions for delay-dependent robust H∞control criteria are obtained in terms of linear matrix inequalities (LMIs). The advantage of the proposed method is illustrated by numerical examples. The results are also compared with the existing results to show the less conservativeness.

  11. Adaptive control of bifurcation and chaos in a time-delayed system

    Institute of Scientific and Technical Information of China (English)

    Li Ning; Yuan Hui-Qun; Sun Hai-Yi; Zhang Qing-Ling

    2013-01-01

    In this paper,the stabilization of a continuous time-delayed system is considered.To control the bifurcation and chaos in a time-delayed system,a parameter perturbation control and a hybrid control are proposed.Then,to ensure the asymptotic stability of the system in the presence of unexpected system parameter changes,the adaptive control idea is introduced,i.e.,the perturbation control parameter and the hybrid control parameter are automatically tuned according to the adaptation laws,respectively.The adaptation algorithms are constructed based on the Lyapunov-Krasovskii stability theorem.The adaptive parameter perturbation control and the adaptive hybrid control methods improve the corresponding constant control methods.They have the advantages of increased stability,adaptability to the changes of the system parameters,control cost saving,and simplicity.Numerical simulations for a well-known chaotic time-delayed system are performed to demonstrate the feasibility and superiority of the proposed control methods.A comparison of the two adaptive control methods is also made in an experimental study.

  12. Simultaneous fault detection and control for stochastic time-delay systems

    Science.gov (United States)

    Meng, Xian-Ji; Yang, Guang-Hong

    2014-05-01

    This paper is concerned with the simultaneous fault detection and control problem for Itô-type stochastic time-delay systems. A full-order dynamic output feedback controller is designed to achieve the desired control and detection objectives. The main contributions of this paper are as follows: (1) for stochastic time-delay systems, the controller design with multiple objectives can be addressed by employing the multiple Lyapunov functions approach, (2) the dynamic output feedback controller synthesis conditions described by linear matrix inequalities (LMIs) are derived and (3) within the proposed fault detection and control framework, a better integrated control and detection performance can be obtained. Some numerical examples including the comparison results are presented to show the advantages of the proposed method.

  13. Factors associated with patient and provider delays for tuberculosis diagnosis and treatment in Asia: a systematic review and meta-analysis.

    Directory of Open Access Journals (Sweden)

    Jing Cai

    Full Text Available Delays in tuberculosis (TB diagnosis and treatment is a major barrier to effective management of the disease. Determining the factors associated with patient and provider delay of TB diagnosis and treatment in Asia may contribute to TB prevention and control.We searched the PubMed, EMBASE and Web of Science for studies that assessed factors associated with delays in care-seeking, diagnosis, or at the beginning of treatment, which were published from January 1992 to September 2014. Two reviewers independently identified studies that were related to our meta-analysis and extracted data from each study. Independent variables were categorized in separate tables for patient and provider delays.Among 45 eligible studies, 40 studies assessed patient delay whereas 30 assessed provider delay. Cross-sectional surveys were used in all but two articles, which included 17 countries and regions. Socio-demographic characteristics, TB-related symptoms and medical examination, and conditions of seeking medical care in TB patients were frequently reported. Male patients and long travel time/distance to the first healthcare provider led to both shorter patient delays [odds ratio (OR (95% confidence intervals, CI = 0.85 (0.78, 0.92; 1.39 (1.08, 1.78] and shorter provider delays [OR (95%CI = 0.96 (0.93, 1.00; 1.68 (1.12, 2.51]. Unemployment, low income, hemoptysis, and positive sputum smears were consistently associated with patient delay [ORs (95%CI = 1.18 (1.07, 1.30, 1.23 (1.02, 1.49, 0.64 (0.40, 1.00, 1.77 (1.07, 2.94, respectively]. Additionally, consultation at a public hospital was associated with provider delay [OR (95%CI = 0.43 (0.20, 0.91].We propose that the major opportunities to reduce delays involve enabling socio-demographic factors and medical conditions. Male, unemployed, rural residence, low income, hemoptysis, positive sputum smear, and long travel time/distance significantly correlated with patient delay. Male, long travel time/distance and

  14. Quasipolynomial Approach to Simultaneous Robust Control of Time-Delay Systems

    Directory of Open Access Journals (Sweden)

    Nikolaj Semenič

    2014-01-01

    Full Text Available A control law for retarded time-delay systems is considered, concerning infinite closed-loop spectrum assignment. An algebraic method for spectrum assignment is presented with a unique optimization algorithm for minimization of spectral abscissa and effective shaping of the chains of infinitely many closed-loop poles. Uncertainty of plant delays of a certain structure is considered in a sense of a robust simultaneous stabilization. Robust performance is achieved using mixed sensitivity design, which is incorporated into the addressed control law.

  15. Integral sliding mode control for a class of nonlinear neutral systems with time-varying delays

    Institute of Scientific and Technical Information of China (English)

    Lou Xu-Yang; Cui Bao-Tong

    2008-01-01

    This paper focuses on sliding mode control problems for a class of nonlinear neutral systems with time-varying delays. An integral sliding surface is firstly constructed. Then it finds a useful criteria to guarantee the global stability for the nonlinear neutral systems with time-varying delays in the specified switching surface, whose condition is formulated as linear matrix inequality. The synthesized sliding mode controller guarantees the reachability of the specified sliding surface. Finally, a numerical simulation validates the effectiveness and feasibility of the proposed technique.

  16. Robust reliable H∞ control for a class of uncertain time-delay systems

    Institute of Scientific and Technical Information of China (English)

    FU Yan-ming; ZHANG Bo; DUAN Guang-ren

    2009-01-01

    This paper deals with the problem of robust reliable H∞ control for a class of uncertain nonlinear systems with time-varying delays and actuator failures. The uncertainties in the system are norm-bounded and time varying. Based on Lyapunov methods, a sufficient condition on quadratic stabilization independent of delay is obtained. With the help of LMIs (linear matrix inequalities) approaches, a hnear state feedback controller is designed to quadratically stabilize the given systems with a H∞ performance constraint of disturbance attenuation for all admissible uncertainties and all actuator failures occurred within the prespecified subset. A numerical example is given to demonstrate the effect of the proposed design approach.

  17. Guaranteed Cost Control for Exponential Synchronization of Cellular Neural Networks with Mixed Time-Varying Delays via Hybrid Feedback Control

    Directory of Open Access Journals (Sweden)

    T. Botmart

    2013-01-01

    Full Text Available The problem of guaranteed cost control for exponential synchronization of cellular neural networks with interval nondifferentiable and distributed time-varying delays via hybrid feedback control is considered. The interval time-varying delay function is not necessary to be differentiable. Based on the construction of improved Lyapunov-Krasovskii functionals is combined with Leibniz-Newton's formula and the technique of dealing with some integral terms. New delay-dependent sufficient conditions for the exponential synchronization of the error systems with memoryless hybrid feedback control are first established in terms of LMIs without introducing any free-weighting matrices. The optimal guaranteed cost control with linear error hybrid feedback is turned into the solvable problem of a set of LMIs. A numerical example is also given to illustrate the effectiveness of the proposed method.

  18. Delays in Admittance-Controlled Haptic Devices Make Simulated Masses Feel Heavier.

    Directory of Open Access Journals (Sweden)

    Irene A Kuling

    Full Text Available In an admittance-controlled haptic device, input forces are used to calculate the movement of the device. Although developers try to minimize delays, there will always be delays between the applied force and the corresponding movement in such systems, which might affect what the user of the device perceives. In this experiment we tested whether these delays in a haptic human-robot interaction influence the perception of mass. In the experiment an admittance-controlled manipulator was used to simulate various masses. In a staircase design subjects had to decide which of two virtual masses was heavier after gently pushing them leftward with the right hand in mid-air (no friction, no gravity. The manipulator responded as quickly as possible or with an additional delay (25 or 50 ms to the forces exerted by the subject on the handle of the haptic device. The perceived mass was ~10% larger for a delay of 25 ms and ~20% larger for a delay of 50 ms. Based on these results, we estimated that the delays that are present in nowadays admittance-controlled haptic devices (up to 20ms will give an increase in perceived mass which is smaller than the Weber fraction for mass (~10% for inertial mass. Additional analyses showed that the subjects' decision on mass when the perceptual differences were small did not correlate with intuitive variables such as force, velocity or a combination of these, nor with any other measured variable, suggesting that subjects did not have a consistent strategy during guessing or used other sources of information, for example the efference copy of their pushes.

  19. Evaluation of delays in diagnosis and treatment of childhood malignancies in Bangladesh

    Directory of Open Access Journals (Sweden)

    Mamtaz Begum

    2016-01-01

    Full Text Available Introduction: Malignancy is one of the leading causes of morbidity and mortality worldwide. According to GLOBOCAN 2012, an estimated 14.1 million new cancer cases and 8.2 million cancer-related deaths occurred in 2012. It is estimated that childhood malignancies are 0.5-4.6% of total malignancies. However, from the point of view of potential year lost due to childhood malignancies, it is more important than adult. Materials and Methods: To find out the probable components for the delay in diagnosis and treatment of childhood malignancies in Bangladesh, cross-sectional observational study was done at the National Institute of Cancer Research and Hospital, Dhaka, Bangladesh, from January 2014 to June 2014. Results: A total of 171 patients were included in the study. They were divided into four age groups. The mean age was 8.422 years with standard deviation ± 5.381 years and their age ranged from 2 months to 18 years. In aggregate, about 70% of the cases had to wait for more than 90 days for the treatment. About 15% had to wait for 31-60 days. Negligible percentage of patients got treatment before 30 days. Among the three components of delay, patients delay was influenced by age of the child, economic status of the family, parental education, and awareness of the parents about malignancy. Conclusion: More than one-third of the pediatric patients had to wait three months or more for treatment to start for various reasons. By raising awareness among the stake holders this problem can be minimized. Further studies are recommended to explore the other factors which might cause delayed referral.

  20. Aperiodic linear networked control considering variable channel delays: application to robots coordination.

    Science.gov (United States)

    Santos, Carlos; Espinosa, Felipe; Santiso, Enrique; Mazo, Manuel

    2015-05-27

    One of the main challenges in wireless cyber-physical systems is to reduce the load of the communication channel while preserving the control performance. In this way, communication resources are liberated for other applications sharing the channel bandwidth. The main contribution of this work is the design of a remote control solution based on an aperiodic and adaptive triggering mechanism considering the current network delay of multiple robotics units. Working with the actual network delay instead of the maximum one leads to abandoning this conservative assumption, since the triggering condition is fixed depending on the current state of the network. This way, the controller manages the usage of the wireless channel in order to reduce the channel delay and to improve the availability of the communication resources. The communication standard under study is the widespread IEEE 802.11g, whose channel delay is clearly uncertain. First, the adaptive self-triggered control is validated through the TrueTime simulation tool configured for the mentioned WiFi standard. Implementation results applying the aperiodic linear control laws on four P3-DX robots are also included. Both of them demonstrate the advantage of this solution in terms of network accessing and control performance with respect to periodic and non-adaptive self-triggered alternatives.

  1. Aperiodic Linear Networked Control Considering Variable Channel Delays: Application to Robots Coordination

    Directory of Open Access Journals (Sweden)

    Carlos Santos

    2015-05-01

    Full Text Available One of the main challenges in wireless cyber-physical systems is to reduce the load of the communication channel while preserving the control performance. In this way, communication resources are liberated for other applications sharing the channel bandwidth. The main contribution of this work is the design of a remote control solution based on an aperiodic and adaptive triggering mechanism considering the current network delay of multiple robotics units. Working with the actual network delay instead of the maximum one leads to abandoning this conservative assumption, since the triggering condition is fixed depending on the current state of the network. This way, the controller manages the usage of the wireless channel in order to reduce the channel delay and to improve the availability of the communication resources. The communication standard under study is the widespread IEEE 802.11g, whose channel delay is clearly uncertain. First, the adaptive self-triggered control is validated through the TrueTime simulation tool configured for the mentioned WiFi standard. Implementation results applying the aperiodic linear control laws on four P3-DX robots are also included. Both of them demonstrate the advantage of this solution in terms of network accessing and control performance with respect to periodic and non-adaptive self-triggered alternatives.

  2. Neural-network predictive control for nonlinear dynamic systems with time-delay.

    Science.gov (United States)

    Huang, Jin-Quan; Lewis, F L

    2003-01-01

    A new recurrent neural-network predictive feedback control structure for a class of uncertain nonlinear dynamic time-delay systems in canonical form is developed and analyzed. The dynamic system has constant input and feedback time delays due to a communications channel. The proposed control structure consists of a linearized subsystem local to the controlled plant and a remote predictive controller located at the master command station. In the local linearized subsystem, a recurrent neural network with on-line weight tuning algorithm is employed to approximate the dynamics of the time-delay-free nonlinear plant. No linearity in the unknown parameters is required. No preliminary off-line weight learning is needed. The remote controller is a modified Smith predictor that provides prediction and maintains the desired tracking performance; an extra robustifying term is needed to guarantee stability. Rigorous stability proofs are given using Lyapunov analysis. The result is an adaptive neural net compensation scheme for unknown nonlinear systems with time delays. A simulation example is provided to demonstrate the effectiveness of the proposed control strategy.

  3. Computation of stabilizing PI and PID controllers for processes with time delay.

    Science.gov (United States)

    Tan, Nusret

    2005-04-01

    In this paper, a new method for the computation of all stabilizing PI controllers for processes with time delay is given. The proposed method is based on plotting the stability boundary locus in the (kp, ki) plane and then computing the stabilizing values of the parameters of a PI controller for a given time delay system. The technique presented does not need to use Pade approximation and does not require sweeping over the parameters and also does not use linear programming to solve a set of inequalities. Thus it offers several important advantages over existing results obtained in this direction. Beyond stabilization, the method is used to compute stabilizing PI controllers which achieve user specified gain and phase margins. The proposed method is also used to design PID controllers for control systems with time delay. The limiting values of a PID controller which stabilize a given system with time delay are obtained in the (kp, ki) plane, (kp, kd) plane, and (ki, kd) plane. Examples are given to show the benefits of the method presented.

  4. Tuberculosis diagnostic delay and its influencing factors in counties with or without TB control programme in Jiangsu Province

    Institute of Scientific and Technical Information of China (English)

    Xu Biao; Jiang Qingwu; Xiu Yan; Shi Suhong; Tang Jie

    2003-01-01

    @@ Rational: Early passive case finding based on good access to TB care is the cornerstones of effective TB control.The accessibility to TB care could be reflected by the diagnostic delay including the "Patient's delay" (from onset of symptoms to the first visit to a hospital), and the "Doctor's delay" (from the first hospital visit to obtaining TB diagnosis).

  5. The Impact of Short-Term Video Games on Performance among Children with Developmental Delays: A Randomized Controlled Trial.

    Directory of Open Access Journals (Sweden)

    Ru-Lan Hsieh

    Full Text Available This prospective, randomized controlled study investigated the effects of short-term interactive video game playing among children with developmental delays participating in traditional rehabilitation treatment at a rehabilitation clinic. One hundred and one boys and 46 girls with a mean age of 5.8 years (range: 3 to 12 years were enrolled in this study. All patients were confirmed to suffer from developmental delays, and were participating in traditional rehabilitation treatment. Children participated in two periods of 4 weeks each, group A being offered intervention of eight 30-minute sessions of interactive video games in the first period, and group B in the second, in addition to the traditional rehabilitation treatment. The physical, psychosocial, and total health of the children was periodically assessed using the parent-reported Pediatric Quality of Life Inventory-Generic Core Scales (PedsQL; and the children's upper extremity and physical function, transfer and basic mobility, sports and physical functioning, and global functioning were assessed using the Pediatric Outcomes Data Collection Instrument. Parental impact was evaluated using the PedsQL-Family Impact Module for family function, PedsQL-Health Satisfaction questionnaire for parents' satisfaction with their children's care and World Health Organization-Quality of Life-Brief Version for quality of life. Compared with the baseline, significant improvements of physical function were observed in both groups (5.6 ± 19.5, p = 0.013; 4.7 ± 13.8, p = 0.009 during the intervention periods. No significant improvement of psychosocial health, functional performance, or family impact was observed in children with developmental delays. Short-term interactive video game play in conjunction with traditional rehabilitation treatment improved the physical health of children with developmental delays.ClinicalTrials.gov NCT02184715.

  6. Adaptive Control for Autonomous Navigation of Mobile Robots Considering Time Delay and Uncertainty

    Science.gov (United States)

    Armah, Stephen Kofi

    Autonomous control of mobile robots has attracted considerable attention of researchers in the areas of robotics and autonomous systems during the past decades. One of the goals in the field of mobile robotics is development of platforms that robustly operate in given, partially unknown, or unpredictable environments and offer desired services to humans. Autonomous mobile robots need to be equipped with effective, robust and/or adaptive, navigation control systems. In spite of enormous reported work on autonomous navigation control systems for mobile robots, achieving the goal above is still an open problem. Robustness and reliability of the controlled system can always be improved. The fundamental issues affecting the stability of the control systems include the undesired nonlinear effects introduced by actuator saturation, time delay in the controlled system, and uncertainty in the model. This research work develops robustly stabilizing control systems by investigating and addressing such nonlinear effects through analytical, simulations, and experiments. The control systems are designed to meet specified transient and steady-state specifications. The systems used for this research are ground (Dr Robot X80SV) and aerial (Parrot AR.Drone 2.0) mobile robots. Firstly, an effective autonomous navigation control system is developed for X80SV using logic control by combining 'go-to-goal', 'avoid-obstacle', and 'follow-wall' controllers. A MATLAB robot simulator is developed to implement this control algorithm and experiments are conducted in a typical office environment. The next stage of the research develops an autonomous position (x, y, and z) and attitude (roll, pitch, and yaw) controllers for a quadrotor, and PD-feedback control is used to achieve stabilization. The quadrotor's nonlinear dynamics and kinematics are implemented using MATLAB S-function to generate the state output. Secondly, the white-box and black-box approaches are used to obtain a linearized

  7. Relation between the extended time-delayed feedback control algorithm and the method of harmonic oscillators.

    Science.gov (United States)

    Pyragas, Viktoras; Pyragas, Kestutis

    2015-08-01

    In a recent paper [Phys. Rev. E 91, 012920 (2015)] Olyaei and Wu have proposed a new chaos control method in which a target periodic orbit is approximated by a system of harmonic oscillators. We consider an application of such a controller to single-input single-output systems in the limit of an infinite number of oscillators. By evaluating the transfer function in this limit, we show that this controller transforms into the known extended time-delayed feedback controller. This finding gives rise to an approximate finite-dimensional theory of the extended time-delayed feedback control algorithm, which provides a simple method for estimating the leading Floquet exponents of controlled orbits. Numerical demonstrations are presented for the chaotic Rössler, Duffing, and Lorenz systems as well as the normal form of the Hopf bifurcation.

  8. Pinning weighted complex networks with heterogeneous delays by a small number of feedback controllers

    Institute of Scientific and Technical Information of China (English)

    XIANG LinYing; LIU ZhongXin; CHEN ZengQiang; YUAN ZhuZhi

    2008-01-01

    Weighted complex dynamical networks with heterogeneous delays in both con-tinuous-time and discrete-time domains are controlled by applying local feedback injections to a small fraction of network nodes. Some generic stability criteria en-suring delay-independent stability are derived for such controlled networks in terms of linear matrix inequalities (LMIs), which guarantee that by placing a small number of feedback controllers on some nodes the whole network can be pinned to some desired homogenous states. In some particular cases, a single controller can achieve the control objective. It is found that stabilization of such pinned networks is completely determined by the dynamics of the individual uncoupled node, the overall coupling strength, the inner-coupling matrix, and the smallest eigenvalue of the coupling and control matrix. Numerical simulations of a weighted network composing of a 3-dimensional nonlinear system are finally given for illustration and verification.

  9. Time-delayed feedback control optimization for quasi linear systems under random excitations

    Institute of Scientific and Technical Information of China (English)

    Xueping Li; Detain Wei; Weiqiu Zhu

    2009-01-01

    A strategy for time-delayed feedback control optimization of quasi linear systems with random excita-tion is proposed. First, the stochastic averaging method is used to reduce the dimension of the state space and to derive the stationary response of the system. Secondly, the control law is assumed to be velocity feedback control with time delay and the unknown control gains are determined by the performance indices. The response of the controlled system is predicted through solving the Fokker-Plank-Kolmogorov equation associated with the averaged It6 equation. Finally, numerical examples are used to illustrate the proposed con-trol method, and the numerical results are confirmed by Monte Carlo simulation.

  10. Relation between the extended time-delayed feedback control algorithm and the method of harmonic oscillators

    Science.gov (United States)

    Pyragas, Viktoras; Pyragas, Kestutis

    2015-08-01

    In a recent paper [Phys. Rev. E 91, 012920 (2015), 10.1103/PhysRevE.91.012920] Olyaei and Wu have proposed a new chaos control method in which a target periodic orbit is approximated by a system of harmonic oscillators. We consider an application of such a controller to single-input single-output systems in the limit of an infinite number of oscillators. By evaluating the transfer function in this limit, we show that this controller transforms into the known extended time-delayed feedback controller. This finding gives rise to an approximate finite-dimensional theory of the extended time-delayed feedback control algorithm, which provides a simple method for estimating the leading Floquet exponents of controlled orbits. Numerical demonstrations are presented for the chaotic Rössler, Duffing, and Lorenz systems as well as the normal form of the Hopf bifurcation.

  11. Guaranteed cost control of uncertain system with input time-delay

    Institute of Scientific and Technical Information of China (English)

    胡乃平; 唐功友

    2003-01-01

    For the uncertain continuous-time systems with input time-delay that widely exist in the production processes, we can get the existent conditions for the guaranteed cost control of these systems by using the Lyapunov stability theory, linear matrix inequalities theory and quadratic cost criterion. We can achieve the guaranteed cost control of this system by solving a matrix inequality. A state feed back guaranteed cost control law can be constructed by solving certain parameter-dependent Riccati matrix equation.

  12. Robust adaptive control for uncertain systems with discrete and distributed delays

    Institute of Scientific and Technical Information of China (English)

    Qing ZHU; Shumin FEI; Tao Li; Tianping ZHANG

    2008-01-01

    In this paper,a robust adaptive control scheme is proposed for the stabilization of uncertain linear systems with discrete and distributed delays and bounded peturbaturbations.The uncertainty is assumed to be an unknown continuous function with norm-bounded restriction.The perturbation is sector-bounded.Combining with the liner matrix inequality method,neural networks and adaptive control,the control scheme ensures the exponential stability of the closed-loop system for any admissible uncertainty.

  13. Adaptive Neural Control for a Class of Outputs Time-Delay Nonlinear Systems

    Directory of Open Access Journals (Sweden)

    Ruliang Wang

    2012-01-01

    Full Text Available This paper considers an adaptive neural control for a class of outputs time-delay nonlinear systems with perturbed or no. Based on RBF neural networks, the radius basis function (RBF neural networks is employed to estimate the unknown continuous functions. The proposed control guarantees that all closed-loop signals remain bounded. The simulation results demonstrate the effectiveness of the proposed control scheme.

  14. Digital decoupling controller design for multiple time-delay continuous-time transfer function matrices

    Science.gov (United States)

    Xie, L. B.; Wu, C. Y.; Shieh, L. S.; Tsai, J. S. H.

    2015-03-01

    This paper presents an extended adjoint decoupling method to conduct the digital decoupling controller design for the continuous-time transfer function matrices with multiple (integer/fractional) time delays in both the denominator and the numerator matrix. First, based on the sampled unit-step response data of the afore-mentioned multiple time-delay system, the conventional balanced model-reduction method is utilised to construct an approximated discrete-time model of the original (known/unknown) multiple time-delay continuous-time transfer function matrix. Then, a digital decoupling controller is designed by utilising the extended adjoint decoupling method together with the conventional discrete-time root-locus method. An illustrative example is given to demonstrate the effectiveness of the proposed method.

  15. Novel delay-partitioning stabilization approach for networked control system via Wirtinger-based inequalities.

    Science.gov (United States)

    Li, Zhichen; Bai, Yan; Huang, Congzhi; Cai, Yunfei

    2016-03-01

    This paper studies the problems of stability analysis and state feedback stabilization for networked control system. By developing a novel delay-partitioning approach, the information on both the range of network-induced delay and the maximum number of consecutive data packet dropouts can be taken into full consideration. Various augmented Lyapunov-Krasovskii functionals (LKFs) with triple-integral terms are constructed for the two delay subintervals. Moreover, the Wirtinger-based inequalities in combination with an improved reciprocal convexity are utilized to estimate the derivatives of LKFs more accurately. The proposed approaches have improved the stability conditions without increasing much computational complexity. Based on the obtained stability criterion, a stabilization controller design approach is also given. Finally, four numerical examples are presented to illustrate the effectiveness and outperformance of the proposed approaches.

  16. Robust H∞ control of uncertain systems with two additive time-varying delays

    Science.gov (United States)

    Syed, Ali M.; Saravanakumar, R.

    2015-09-01

    This paper is concerned with the problem of delay-dependent robust H∞ control for a class of uncertain systems with two additive time-varying delays. A new suitable Lyapunov-Krasovskii functional (LKF) with triple integral terms is constructed and a tighter upper bound of the derivative of the LKF is derived. By applying a convex optimization technique, new delay-dependent robust H∞ stability criteria are derived in terms of linear matrix inequalities (LMI). Based on the stability criteria, a state feedback controller is designed such that the closed-loop system is asymptotically stable. Finally, numerical examples are given to illustrate the effectiveness of the proposed method. Comparison results show that our results are less conservative than the existing methods. Project supported by the Fund from the Department of Science and Technology of India (Grant No. SR/FTP/MS-039/2011).

  17. The impact of 5-hydroxytryptamine-receptor antagonists on chemotherapy treatment adherence, treatment delay, and nausea and vomiting

    Directory of Open Access Journals (Sweden)

    Palli SR

    2015-06-01

    Full Text Available Swetha Rao Palli,1 Michael Grabner,1 Ralph A Quimbo,1 Hope S Rugo2 1HealthCore, Wilmington, DE, 2University of California San Francisco Helen Diller Family Comprehensive Cancer Center, San Francisco, CA, USA Purpose: To determine the incidence of chemotherapy-induced nausea/vomiting (CINV and chemotherapy treatment delay and adherence among patients receiving palonosetron versus other 5-hydroxytryptamine receptor antagonist (5-HT3 RA antiemetics. Materials and methods: This retrospective claims analysis included adults with primary malignancies who initiated treatment consisting of single-day intravenous highly emetogenic chemotherapy (HEC or moderately EC (MEC regimens. Treatment delay was defined as a gap in treatment at least twice the National Comprehensive Cancer Network-specified cycle length, specific to each chemotherapy regimen. Treatment adherence was determined by the percentage of patients who received the regimen-specific recommended number of chemotherapy cycles within the recommended time frame. Results: We identified 1,832 palonosetron and 2,387 other 5-HT3 RA (“other” patients who initiated HEC therapy, and 1,350 palonosetron users and 1,379 patients on other antiemetics who initiated MEC therapy. Fewer patients receiving palonosetron experienced CINV versus other (HEC, 27.5% versus 32.2%, P=0.0011; MEC, 36.1% versus 41.7%, P=0.0026, and fewer treatment delays occurred among patients receiving palonosetron versus other (HEC, 3.2% versus 6.0%, P<0.0001; MEC, 17.0% versus 26.8%, P<0.0001. Compared with the other cohort, patients receiving palonosetron were significantly more adherent to the index chemotherapy regimen with respect to the recommended time frame (HEC, 74.7% versus 69.7%, P=0.0004; MEC, 43.1% versus 37.3%, P=0.0019 and dosage (HEC, 27.3% versus 25.8%, P=0.0004; MEC, 15.0% versus 12.6%, P=0.0019. Conclusion: Palonosetron more effectively reduced occurrence of CINV in patients receiving HEC or MEC compared with

  18. Experimental studies on active control of a dynamic system via a time-delayed absorber

    Science.gov (United States)

    Xu, Jian; Sun, Yixia

    2015-04-01

    The traditional passive absorber is fully effective within a narrow and certain frequency band. To solve this problem, a time-delayed acceleration feedback is introduced to convert a passive absorber into an active one. Both the inherent and the intentional time delays are included. The former mainly comes from signal acquiring and processing, computing, and applying the actuation force, and its value is fixed. The latter is introduced in the controller, and its value is actively adjustable. Firstly, the mechanical model is established and the frequency response equations are obtained. The regions of stability are delineated in the plane of control parameters. Secondly, the design scheme of control para- meters is performed to help select the values of the feedback gain and time delay. Thirdly, the experimental studies are conducted. Effects of both negative and positive feedback control are investigated. Experimental results show that the proper choices of control parameters may broaden the effective frequency band of vibration absorption. Moreover, the time-delayed absorber greatly suppresses the resonant response of the primary system when the passive absorber totally fails. The experimental results are in good agreement with the theoretical predictions and numerical simulations.

  19. Adaptive Wide-Area Damping Control Scheme for Smart Grids with Consideration of Signal Time Delay

    Directory of Open Access Journals (Sweden)

    Deyou Yang

    2013-09-01

    Full Text Available As an important part of the smart grid, a wide-area measurement system (WAMS provides the key technical support for power system monitoring, protection and control. But 20 uncertainties in system parameters and signal transmission time delay could worsen the damping effect and deteriorate the system stability. In the presented study, the subspace system identification technique (SIT is used to firstly derive a low-order linear model of a power system from the measurements. Then, a novel adaptive wide-area damping control scheme for online tuning of the wide-area damping controller (WADC parameters using the residue method is proposed. In order to eliminate the effects of the time delay to the signal transmission, a simple and practical time delay compensation algorithm is proposed to compensate the time delay in each wide-area control signal. Detailed examples, inspired by the IEEE test system under various disturbance scenarios, have been used to verify the effectiveness of the proposed adaptive wide-area damping control scheme.

  20. Predictor-based control for an inverted pendulum subject to networked time delay.

    Science.gov (United States)

    Ghommam, J; Mnif, F

    2017-03-01

    The inverted pendulum is considered as a special class of underactuated mechanical systems with two degrees of freedom and a single control input. This mechanical configuration allows to transform the underactuated system into a nonlinear system that is referred to as the normal form, whose control design techniques for stabilization are well known. In the presence of time delays, these control techniques may result in inadequate behavior and may even cause finite escape time in the controlled system. In this paper, a constructive method is presented to design a controller for an inverted pendulum characterized by a time-delayed balance control. First, the partial feedback linearization control for the inverted pendulum is modified and coupled with a state predictor to compensate for the delay. Several coordinate transformations are processed to transform the estimated partial linearized system into an upper-triangular form. Second, nested saturation and backstepping techniques are combined to derive the control law of the transformed system that would complete the design of the whole control input. The effectiveness of the proposed technique is illustrated by numerical simulations.

  1. Combined Adaptive and Predictive Control for a Teleoperation System with Force Disturbance and Input Delay

    Directory of Open Access Journals (Sweden)

    Enrico Franco

    2016-08-01

    Full Text Available This work presents a new discrete-time adaptive-predictive control algorithm for a system with force disturbance and input delay. This scenario is representative of a mechatronic device for percutaneous intervention with pneumatic actuation and long supply lines which is controlled remotely in the presence of an unknown external force resulting from needle-tissue interaction or gravity. The ultimate goal of this research is the robotic-assisted percutaneous intervention of the liver under Magnetic Resonance Imaging (MRI guidance. Since the control algorithm is intended for a digital microcontroller, it is presented in the discrete-time form. The controller design is illustrated for a 1 degree-of-freedom (DOF system and is conducted with a modular approach combining position control, adaptive disturbance compensation, and predictive control. The controller stability is analyzed and the effect of the input delay and of the tuning parameters is discussed. The controller performance is assessed with simulations considering a disturbance representative of needle insertion forces. The results indicate that the adaptive-predictive controller is effective in the presence of a variable disturbance and of a known or variable input delay.

  2. Fixed-Orderl1-Control for Systems with Time-Delay

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    In this paper, fixed-orderl1-control for systems with time-delay is studied, and sufficient conditions for solvability of state-feedback l1-control and dynamic output-feedback l1-control are obtained. This paper also gives the forms of solution tol1-controller. In the paper, the problem is not cast into infinite dimensional constrained convex optimal problem, but an upper bound of l1-norm is optimized. Although thel1-control is sub-optimal, the analysis and design are simple. The result of the paper improves and develops thel1-control method.

  3. Low-intensity pulsed ultrasound treatment for postoperative delayed union or nonunion of long bone fractures.

    Science.gov (United States)

    Jingushi, Seiya; Mizuno, Kosaku; Matsushita, Takashi; Itoman, Moritoshi

    2007-01-01

    Postoperative delayed union and nonunion is the most common complication in fracture treatment. Recent studies have shown an accelerating effect of low-intensity pulsed ultrasound (LIPUS) on fracture repair. However, the indications for delayed union and nonunion are not clear. To clarify the factors which influence the effects of LIPUS, the data from a previous prospective multicenter study on LIPUS treatment for postoperative delayed union and nonunion of long bone fractures were reanalyzed. Seventy-two cases of long bone fracture, including those of the femur, tibia, humerus, radius, and ulna, were analyzed. The mean time from the most recent operation to the beginning of LIPUS treatment was 11.5 (3-68) months. The relationship between the background factors and the union rate was analyzed using a logistic regression method. In addition, long bone fractures in an upper extremity or in a lower extremity were analyzed separately. The union rate was 75% in all the cases of long bone fracture. There was a significant relationship between the union rate and the period from the most recent operation to the beginning of LIPUS treatment in all cases and in those that had long bone fracture of an upper extremity. There was also a significant relationship between the union rate and the time when a radiological improvement was first observed after the beginning of the treatment in all cases and in those with fractures in a lower extremity. When LIPUS treatment was started within 6 months of the most recent operation, 89.7% of all fractures healed. When an improvement in the radiological changes at the fracture site was observed after 4 months in those cases, then the sensitivity and specificity for union were more than 90%. LIPUS treatment should be started within 6 months of the most recent operation. Because LIPUS has been shown to be effective without causing either serious invasiveness or any undue risk to the patient, it may be considered the treatment of first choice

  4. Containment control of multi-agent systems with unbounded communication delays

    Science.gov (United States)

    Shen, Jun; Lam, James

    2016-07-01

    In this paper, we address the containment control problem for multi-agent systems under heterogeneous unbounded communication delays with emphasis on the convergence rate analysis. Different from most works on multi-agent systems, we resort to a viewpoint from the area of positive delay systems. We first cast the containment control problem into the stability analysis of an associated error system. In order to capture the convergence rate, we introduce a nondecreasing positive function whose reciprocal represents the decay rate of the associated error system. Under the assumption that each follower has access to at least one leader and some mild hypotheses on the communication delays, an explicit condition is given to characterise the decay rate of the associated error system in terms of linear programming. In addition, we provide several special cases when the communication delays are restricted by linear, sublinear and logarithmic growth rates, respectively. Finally, through numerical examples, it is shown that the convergence rate is dominated by the delays being the highest order infinitely large quantity.

  5. Variable Structure Disturbance Rejection Control for Nonlinear Uncertain Systems with State and Control Delays via Optimal Sliding Mode Surface Approach

    Directory of Open Access Journals (Sweden)

    Jing Lei

    2013-01-01

    Full Text Available The paper considers the problem of variable structure control for nonlinear systems with uncertainty and time delays under persistent disturbance by using the optimal sliding mode surface approach. Through functional transformation, the original time-delay system is transformed into a delay-free one. The approximating sequence method is applied to solve the nonlinear optimal sliding mode surface problem which is reduced to a linear two-point boundary value problem of approximating sequences. The optimal sliding mode surface is obtained from the convergent solutions by solving a Riccati equation, a Sylvester equation, and the state and adjoint vector differential equations of approximating sequences. Then, the variable structure disturbance rejection control is presented by adopting an exponential trending law, where the state and control memory terms are designed to compensate the state and control delays, a feedforward control term is designed to reject the disturbance, and an adjoint compensator is designed to compensate the effects generated by the nonlinearity and the uncertainty. Furthermore, an observer is constructed to make the feedforward term physically realizable, and thus the dynamical observer-based dynamical variable structure disturbance rejection control law is produced. Finally, simulations are demonstrated to verify the effectiveness of the presented controller and the simplicity of the proposed approach.

  6. Path Tracking Control of Automatic Parking Cloud Model considering the Influence of Time Delay

    Directory of Open Access Journals (Sweden)

    Yiding Hua

    2017-01-01

    Full Text Available This paper establishes the kinematic model of the automatic parking system and analyzes the kinematic constraints of the vehicle. Furthermore, it solves the problem where the traditional automatic parking system model fails to take into account the time delay. Firstly, based on simulating calculation, the influence of time delay on the dynamic trajectory of a vehicle in the automatic parking system is analyzed under the transverse distance Dlateral between different target spaces. Secondly, on the basis of cloud model, this paper utilizes the tracking control of an intelligent path closer to human intelligent behavior to further study the Cloud Generator-based parking path tracking control method and construct a vehicle path tracking control model. Moreover, tracking and steering control effects of the model are verified through simulation analysis. Finally, the effectiveness and timeliness of automatic parking controller in the aspect of path tracking are tested through a real vehicle experiment.

  7. Synchronization of Coupled Chaotic Neurons with Unknown Time Delays via Adaptive Backstepping Control

    Directory of Open Access Journals (Sweden)

    Li Yang

    2013-05-01

    Full Text Available In this study, an adaptive Neural Network (NN based backstepping controller is proposed to realize chaos synchronization of two gap junction coupled FitzHugh-Nagumo (FHN neurons with uncertain time delays. In the designed backstepping controller, a simple Radial Basis Function (RBF NN is used to approximate the uncertain nonlinear part of the error dynamical system. The weights of the NN are tuned on-line. A Lyapunov-Krasovskii function is designed to overcome the difficulties from the unknown time delays. Moreover, to relax the requirement for boundness of disturbance, an adaptive law to adapt the disturbance in real time is given. According to the Lyapunov stability theory, the stability of the closed error system is guaranteed. The control scheme is robust to the uncertainties such as approximate error, ionic channel noise and external disturbances. Chaos synchronization is obtained by proper choice of the control parameters. The simulation results demonstrate the effectiveness of the proposed control method.

  8. Guaranteed Cost Active Fault-tolerant Control of Networked Control System with Packet Dropout and Transmission Delay

    Institute of Scientific and Technical Information of China (English)

    Xiao-Yuan Luo; Mei-Jie Shang; Cai-Lian Chen; Xin-Ping Guan

    2010-01-01

    The problem of guaranteed cost active fault-tolerant controller (AFTC) design for networked control systems (NCSs)with both packet dropout and transmission delay is studied in this paper.Considering the packet dropout and transmission delay,a piecewise constant controller is adopted.With a guaranteed cost function,optimal controllers whose number is equal to the number of actuators are designed,and the design process is formulated as a convex optimal problem that can be solved by existing software.The control strategy is proposed as follows:when actuator failures appear,the fault detection and isolation unit sends out the information to the controller choosing strategy,and then the optimal stabilizing controller with the smallest guaranteed cost value is chosen.Two illustrative examples are given to demonstrate the effectiveness of the proposed approach.By comparing with the existing methods,it can be seen that our method has a better performance.

  9. The dynamics of second-order equations with delayed feedback and a large coefficient of delayed control

    Science.gov (United States)

    Kashchenko, Sergey A.

    2016-12-01

    The dynamics of second-order equations with nonlinear delayed feedback and a large coefficient of a delayed equation is investigated using asymptotic methods. Based on special methods of quasi-normal forms, a new construction is elaborated for obtaining the main terms of asymptotic expansions of asymptotic residual solutions. It is shown that the dynamical properties of the above equations are determined mostly by the behavior of the solutions of some special families of parabolic boundary value problems. A comparative analysis of the dynamics of equations with the delayed feedback of three types is carried out.

  10. On the Controllability of a Differential Equation with Delayed and Advanced Arguments

    Directory of Open Access Journals (Sweden)

    Raúl Manzanilla

    2010-01-01

    Full Text Available A semigroup theory for a differential equation with delayed and advanced arguments is developed, with a detailed description of the infinitesimal generator. This in turn allows to study the exact controllability of the equation, by rewriting it as a classical Cauchy problem.

  11. Quadratic partial eigenvalue assignment problem with time delay for active vibration control

    Science.gov (United States)

    Pratt, J. M.; Singh, K. V.; Datta, B. N.

    2009-08-01

    Partial pole assignment in active vibration control refers to reassigning a small set of unwanted eigenvalues of the quadratic eigenvalue problem (QEP) associated with the second order system of a vibrating structure, by using feedback control force, to suitably chosen location without altering the remaining large number of eigenvalues and eigenvectors. There are several challenges of solving this quadratic partial eigenvalue assignment problem (QPEVAP) in a computational setting which the traditional pole-placement problems for first-order control systems do not have to deal with. In order to these challenges, there has been some work in recent years to solve QPEVAP in a computationally viable way. However, these works do not take into account of the practical phenomenon of the time-delay effect in the system. In this paper, a new "direct and partial modal" approach of the quadratic partial eigenvalue assignment problem with time-delay is proposed. The approach works directly in the quadratic system without requiring transformation to a standard state-space system and requires the knowledge of only a small number of eigenvalues and eigenvectors that can be computed or measured in practice. Two illustrative examples are presented in the context of active vibration control with constant time-delay to illustrate the success of our proposed approach. Future work includes generalization of this approach to a more practical complex time-delay system and extension of this work to the multi-input problem.

  12. PERMANENCE AND GLOBAL STABILITY OF A FEEDBACK CONTROL SYSTEM WITH DELAYS

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    This paper considers a feedback control systems of differential equations with delays. By applying the differential inequality theorem, sufficient conditions for the permanence of the system are obtained. Also, by constructing a suitable Lyapunov functional, a criterion for the global stability of the model is obtained.

  13. Controllability of impulsive functional differential systems with infinite delay in Banach spaces

    Energy Technology Data Exchange (ETDEWEB)

    Chang Yongkui [Department of Mathematics, Lanzhou Jiaotong University, Lanzhou, Gansu 730070 (China)]. E-mail: lzchangyk@163.com

    2007-08-15

    The paper establishes a sufficient condition for the controllability of the first-order impulsive functional differential systems with infinite delay in Banach spaces. We use Schauder's fixed point theorem combined with a strongly continuous operator semigroup. An example is given to illustrate our results.

  14. Controllability of nonlinear third-order dispersion inclusions with infinite delay

    Directory of Open Access Journals (Sweden)

    Meili Li

    2013-07-01

    Full Text Available This article shows the controllability of nonlinear third-order dispersion inclusions with infinite delay. Sufficient conditions are obtained by using a fixed-point theorem for multivalued maps. Particularly, the compactness of the operator semigroups is not assumed in this article.

  15. Controllability of impulsive neutral functional differential inclusions with infinite delay in Banach spaces

    Energy Technology Data Exchange (ETDEWEB)

    Chang, Y.-K. [Department of Mathematics, Lanzhou Jiaotong University, Lanzhou, Gansu 730070 (China)], E-mail: lzchangyk@163.com; Anguraj, A. [Department of Mathematics, PSG College of Arts and Science, Coimbatore 641 014, Tamil Nadu (India)], E-mail: angurajpsg@yahoo.com; Mallika Arjunan, M. [Department of Mathematics, PSG College of Arts and Science, Coimbatore 641 014, Tamil Nadu (India)], E-mail: arjunphd07@yahoo.co.in

    2009-02-28

    In this work, we establish a sufficient condition for the controllability of the first-order impulsive neutral functional differential inclusions with infinite delay in Banach spaces. The results are obtained by using the Dhage's fixed point theorem.

  16. Systematic identification and robust control design for uncertain time delay processes

    DEFF Research Database (Denmark)

    Huusom, Jakob Kjøbsted; Poulsen, Niels Kjølstad; Jørgensen, Sten Bay

    2011-01-01

    A systematic procedure is proposed to handle the standard process control problem. The considered standard problem involves infrequent step disturbances to processes with large delays and measurement noise. The process is modeled as an ARX model and extended with a suitable noise model in order t...

  17. Delayed cord clamping in South African neonates with expected low birthweight : a randomised controlled trial

    NARCIS (Netherlands)

    Tiemersma, Sybrich; Heistein, Julia; Ruijne, Roos; Lopez, Gustavo; van Lobenstein, Jeroen; van Rheenen, Patrick

    OBJECTIVE: To evaluate safety and haematological effects of delayed cord clamping (DCC) in infants with expected low birthweight born in a resource-poor setting. METHODS: Randomised controlled trial involving pregnant women in early labour ≥18 years with intrapartum symphysal-fundal height ≤32 cm.

  18. Positive Periodic Solutions of Cooperative Systems with Delays and Feedback Controls

    Directory of Open Access Journals (Sweden)

    Tursuneli Niyaz

    2013-01-01

    Full Text Available This paper studies a class of periodic n species cooperative Lotka-Volterra systems with continuous time delays and feedback controls. Based on the continuation theorem of the coincidence degree theory developed by Gaines and Mawhin, some new sufficient conditions on the existence of positive periodic solutions are established.

  19. Filtering and fault tolerant control of parameter-varying time-delay systems and applications

    Science.gov (United States)

    Mohammadpour Velni, Javad

    This dissertation addresses some open problems in control systems theory. The problems considered include the dynamic controller and filter design for Linear Parameter Varying (LPV) time-delay systems, the reconfigurable control design in Fault Tolerant Control Systems (FTCS) and fault diagnostics in Diesel engines. In the first part of this thesis, we investigate the problem of designing parameter-dependent filters for output estimation of LPV time-delay systems. The filters are designed such that the filtering error system guarantees an optimum level of H2 or Hinfinity performance. A state-delay term is included in the filter dynamics to reduce the design conservatism and improve the performance. The Linear Matrix Inequality (LMI)-based synthesis conditions developed for the filter design purposes are categorized into the rate-dependent and delay-dependent conditions which could handle the time-varying state-delay and bounded small delay cases, respectively. Among these two, the latter one is shown to provide a significant reduction in the conservativeness in the filter design. The second part of the thesis examines the analysis and synthesis of Fault Tolerant Control (FTC) systems in an LPV framework. For reconfigurable control design purposes, the information from Fault Detection and Isolation (FDI) module, that provides an estimate of the fault parameters, is utilized to schedule the controller matrices. We will also present a formulation that incorporates the factor of detection delay in the FTC supervisory system. It is shown that including this delay in the synthesis conditions leads to improved performance and reduced control effort. For analysis of the FTC systems including time-delay, where the fault parameters might be identified inaccurately, we first introduce the notion of brief instability for LPV time-delay systems. In these systems it is possible that the output trajectory converges to zero even though there are parameter trajectories for which

  20. Delay in surgical treatment of patients with hilar cholangiocarcinoma: does time impact outcomes?

    Science.gov (United States)

    Ruys, Anthony T; Heuts, Simon G; Rauws, Eric A; Busch, Olivier R C; Gouma, Dirk J; Gulik, Thomas M

    2014-01-01

    Background Substantial time elapses before patients with hilar cholangiocarcinoma (HCC) receive surgical treatment because of time-consuming preoperative staging and other interventions, including biliary drainage and portal vein embolization. Prolonged times potentially lead to unresectability and the formation of metastases, yet these issues have not been investigated previously in HCC. This study aimed to evaluate the time between onset of symptoms and the provision of ultimate treatment in patients with HCC and the impact of the length of time on outcomes. Methods Delays in the treatment of consecutive patients with HCC were evaluated by contacting general practitioners (GPs) and extracting data from hospital files. Time periods were correlated with resectability, occurrence of metastasis, tumour stage and survival using logistic and Cox regression analyses. Results Treatment times in 209 consecutive HCC patients were evaluated. The median time from first GP visit until presentation at the tertiary centre was 35 days. Time until treatment was longer when initial symptoms did not include jaundice (non-specific symptoms, P < 0.001). Duration of workup and preoperative biliary drainage at the tertiary centre prior to final surgical treatment resulted in an additional median time of 74 days. No correlation was found between treatment time in weeks and resectability [odds ratio (OR) 1.010, 95% confidence interval (CI) 0.985–1.036], metastasis (OR = 0.947, 95% CI 0.897–1.000), tumour stage (OR = 1.006, 95% CI 0.981–1.031) or survival in resected patients (hazard ratio = 0.996, 95% CI 0.975–1.018). Conclusions The time that elapses between the presentation of symptoms and final treatment in patients with HCC is substantial, especially in patients with non-specific symptoms. This time, however, does not affect resectability, metastasis, tumour stage or survival, which suggests that preoperative optimization should not be omitted because of potential delays in

  1. Modelling and control of Zigbee-based wireless networked control system with both network-induced delay and packet dropout

    Science.gov (United States)

    Li, Jian-ning; Su, Hong-ye; Wu, Zheng-guang; Chu, Jian

    2013-06-01

    A new stochastic switched linear model is established to describe the Zigbee-based wireless networked control system (WNCS) with both network-induced delay and packet dropout. The network-induced delay can be less or longer than one sampling period. A sufficient condition is presented for the exponentially mean square stability of the closed-loop WNCS, and corresponding state feedback controller is designed by using the augmenting technique and multi-Lyapunov approach. Then, combined with carrier sense multiple access with collision avoidance (CSMA-CA) algorithm, a method is given to choose proper parameter values. Finally, a numerical example is provided to demonstrate the effectiveness of the proposed method.

  2. A review of workers' compensation claims: the frequency of claim denial and medical treatment delay.

    Science.gov (United States)

    Kelley, C R; Amparo, J M

    2000-01-01

    A retrospective chart review of 257 patients who presented between January to March 1998, was conducted to identify the frequency of workers' compensation claim denial among patients who reported to Straub Clinic and Hospital. Results showed that 12.8% of claims were either "denied" or temporarily "denied pending investigation". Analysis of all the claims found that only 2% resulted in delayed medical care. Further analysis of the denied claims revealed the vast majority of claims (78.8%) were denied because the medical provider and the patient had incorrect workers' compensation carrier information. Other independent variables studied (size of the employer, category of employer, injury type, status of case, length of case and number of visits) did not predict either denial of the claim or treatment delay. This study suggests that the efficiency of our State's Workers' Compensation system would be greatly improved by developing a system to provide medical care providers with accurate insurance information.

  3. Recovery of cognitive dysfunction in a case of delayed encephalopathy of carbon monoxide poisoning after treatment with donepezil hydrochloride

    OpenAIRE

    Wang Pin; Zeng Tao; Chi Zhao-fu

    2009-01-01

    Delayed encephalopathy following carbon monoxide poisoning is a serious complication. Here, we report a patient with delayed encephalopathy who suffered from cognitive disorders and urinary incontinence after a temporal normal period of 15 days after acute intoxication, and his cognitive function recovered gradually following donepezil hydrochloride treatment. Now, he can undertake slight farming work.

  4. Recovery of cognitive dysfunction in a case of delayed encephalopathy of carbon monoxide poisoning after treatment with donepezil hydrochloride

    Directory of Open Access Journals (Sweden)

    Wang Pin

    2009-01-01

    Full Text Available Delayed encephalopathy following carbon monoxide poisoning is a serious complication. Here, we report a patient with delayed encephalopathy who suffered from cognitive disorders and urinary incontinence after a temporal normal period of 15 days after acute intoxication, and his cognitive function recovered gradually following donepezil hydrochloride treatment. Now, he can undertake slight farming work.

  5. BIBO Stabilization of Discrete-Time Stochastic Control Systems with Mixed Delays and Nonlinear Perturbations

    Directory of Open Access Journals (Sweden)

    Xia Zhou

    2013-01-01

    Full Text Available The problem of bounded-input bounded-output (BIBO stabilization in mean square for a class of discrete-time stochastic control systems with mixed time-varying delays and nonlinear perturbations is investigated. Some novel delay-dependent stability conditions for the previously mentioned system are established by constructing a novel Lyapunov-Krasovskii function. These conditions are expressed in the forms of linear matrix inequalities (LMIs, whose feasibility can be easily checked by using MATLAB LMI Toolbox. Finally, a numerical example is given to illustrate the validity of the obtained results.

  6. Observer-based predictive controller design with network-enhanced time-delay compensation

    Science.gov (United States)

    Florin Caruntu, Constantin

    2015-02-01

    State feedback control is very attractive due to the precise computation of the gain matrix, but the implementation of a state feedback controller is possible only when all state variables are directly measurable. This condition is almost impossible to accomplish due to the excess number of required sensors or unavailability of states for measurement in most of the practical situations. Hence, the need for an estimator or observer is obvious to estimate all the state variables by observing the input and the output of the controlled system. As such, the goal of this paper is to provide a control design methodology based on a Luenberger observer design that can assure the closed-loop performances of a vehicle drivetrain with backlash, while compensating the network-enhanced time-varying delays. This goal is achieved in a sequential manner: firstly, a piecewise linear model of two inertias drivetrain, which takes into consideration the backlash nonlinearity and the network-enhanced time-varying delay effects is derived; then, a Luenberger observer which estimates the state variables is synthesized and the robust full state-feedback predictive controller based on flexible control Lyapunov functions is designed to explicitly take into account the bounds of the disturbances caused by time-varying delays and to guarantee also the input-to-state stability of the system in a non-conservative way. The full state-feedback predictive control strategy based on the Luenberger observer design was experimentally tested on a vehicle drivetrain emulator controlled through controller area network, with the aim of minimizing the backlash effects while compensating the network-enhanced delays.

  7. Multivariable predictive control considering time delay for load-frequency control in multi-area power systems

    Directory of Open Access Journals (Sweden)

    Daniar Sabah

    2016-12-01

    Full Text Available In this paper, a multivariable model based predictive control (MPC is proposed for the solution of load frequency control (LFC in a multi-area interconnected power system. The proposed controller is designed to consider time delay, generation rate constraint and multivariable nature of the LFC system, simultaneously. A new formulation of the MPC is presented to compensate time delay. The generation rate constraint is considered by employing a constrained MPC and economic allocation of the generation is further guaranteed by an innovative modification in the predictive control objective function. The effectiveness of proposed scheme is verified through time-based simulations on the standard 39-bus test system and the responses are then compared with the proportional-integral controller. The evaluation of the results reveals that the proposed control scheme offers satisfactory performance with fast responses.

  8. Singular linear quadratic control problem for systems with linear and constant delay

    Science.gov (United States)

    Sesekin, A. N.; Andreeva, I. Yu.; Shlyakhov, A. S.

    2016-12-01

    This article is devoted to the singular linear-quadratic optimization problem on the trajectories of the linear non-autonomous system of differential equations with linear and constant delay. It should be noted that such task does not solve the class of integrable controls, so to ensure the existence of a solution is needed to expand the class of controls to include the control impulse components. For the problem under consideration, we have built program control containing impulse components in the initial and final moments time. This is done under certain assumptions on the functional and the right side of the control system.

  9. Tuning of IMC based PID controllers for integrating systems with time delay.

    Science.gov (United States)

    Kumar, D B Santosh; Padma Sree, R

    2016-07-01

    Design of Proportional Integral and Derivative (PID) controllers based on IMC principles for various types of integrating systems with time delay is proposed. PID parameters are given in terms of process model parameters and a tuning parameter. The tuning parameter is IMC filter time constant. In the present work, the IMC filter (Q) is chosen in such a manner that the order of the denominator of IMC controller is one less than the order of the numerator. The IMC filter time constant (λ) is tuned in such a way that a good compromise is made between performance and robustness for both servo and regulatory problems. To improve servo response of the controller a set point filter is designed such that the closed loop response is similar to that of first order plus time delay system. The proposed controller design method is applied to various transfer function models and to the non-linear model equations of jacketed CSTR to demonstrate its applicability and effectiveness. The performance of the proposed controller is compared with the recently reported methods in terms of IAE and ITAE. The smooth functioning of the controller is determined in terms of total variation and compared with recently reported methods. Simulation studies are carried out on various integrating systems with time delay to show the effectiveness and superiority of the proposed controllers.

  10. Shared control on lunar spacecraft teleoperation rendezvous operations with large time delay

    Science.gov (United States)

    Ya-kun, Zhang; Hai-yang, Li; Rui-xue, Huang; Jiang-hui, Liu

    2017-08-01

    Teleoperation could be used in space on-orbit serving missions, such as object deorbits, spacecraft approaches, and automatic rendezvous and docking back-up systems. Teleoperation rendezvous and docking in lunar orbit may encounter bottlenecks for the inherent time delay in the communication link and the limited measurement accuracy of sensors. Moreover, human intervention is unsuitable in view of the partial communication coverage problem. To solve these problems, a shared control strategy for teleoperation rendezvous and docking is detailed. The control authority in lunar orbital maneuvers that involves two spacecraft as rendezvous and docking in the final phase was discussed in this paper. The predictive display model based on the relative dynamic equations is established to overcome the influence of the large time delay in communication link. We discuss and attempt to prove via consistent, ground-based simulations the relative merits of fully autonomous control mode (i.e., onboard computer-based), fully manual control (i.e., human-driven at the ground station) and shared control mode. The simulation experiments were conducted on the nine-degrees-of-freedom teleoperation rendezvous and docking simulation platform. Simulation results indicated that the shared control methods can overcome the influence of time delay effects. In addition, the docking success probability of shared control method was enhanced compared with automatic and manual modes.

  11. Treatment of distal femoral nonunion and delayed union by using a retrograde intramedullary interlocking nail

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Objective: To analyze the causes of distal femoral nonunion and delayed union and assess the outcome of the corresponding treatment, retrograde intramedullary interlocking nail (RIIN).   Methods: From June 1995 to December 1998, 15 patients (9 males and 6 females) with distal femoral nonunion and delayed union were treated with RIIN. The average age of the patients was 34.5 years (23-46 years). Bone grafting was performed in 10 patients, closed reaming was done in the other 5 patients. Correction osteotomy was performed in 2 patients, and intra-articular release of knee adhesion in 11 patients. X-ray examination and knee society clinical rating system (KSS) were used to evaluate the results.   Results: All fractures were followed up for at least 9 months with average follow-up duration of 14.5 months (9-33 months). Solid union was documented in all patients at 6.4 months on average. There were no infections or malunions in this series. Based on the final follow-up data, acceptable functional range of motion (ROM) of over 90° was achieved in most patients. The average ROM was 93.5° with significant improvement of 28° (42.7%, P<0.05) compared with the preoperative ROM. The average knee score was 96. Excellent ROM emerged in 13 patients. The knee function score was 90.5 on average.   Conclusions: The main causes of distal femoral nonunion and delayed union are improper indications and improper use of the implants. RIIN is an effective alternative for treatment of distal femoral nonunion and delayed union because it can provide a stable and reliable fixation which is beneficial for early functional exercise of knee. Bone grafting, closed reaming and intra-articular release of knee adhesion should be considered in order to enhance the bone healing and improve ROM and the knee function.

  12. Small-Signal Analysis of the Microgrid Secondary Control Considering a Communication Time Delay

    DEFF Research Database (Denmark)

    Coelho, Ernane Antônio Alves; Wu, Dan; Guerrero, Josep M.

    2016-01-01

    This paper presents a small-signal analysis of an islanded microgrid composed of two or more voltage-source inverters connected in parallel. The primary control of each inverter is integrated through an internal current and voltage loops using proportional resonant compensators, a virtual impedance......, and an external power controller based on frequency and voltage droops. The frequency restoration function is implemented at the secondary control level, which executes a consensus algorithm that consists of a load-frequency control and a single time delay communication network. The consensus network consists...... of a time-invariant directed graph and the output power of each inverter is the information shared among the units, which is affected by the time delay. The proposed small-signal model is validated through simulation results and experimental results. A root locus analysis is presented that shows...

  13. An optimal PID controller via LQR for standard second order plus time delay systems.

    Science.gov (United States)

    Srivastava, Saurabh; Misra, Anuraag; Thakur, S K; Pandit, V S

    2016-01-01

    An improved tuning methodology of PID controller for standard second order plus time delay systems (SOPTD) is developed using the approach of Linear Quadratic Regulator (LQR) and pole placement technique to obtain the desired performance measures. The pole placement method together with LQR is ingeniously used for SOPTD systems where the time delay part is handled in the controller output equation instead of characteristic equation. The effectiveness of the proposed methodology has been demonstrated via simulation of stable open loop oscillatory, over damped, critical damped and unstable open loop systems. Results show improved closed loop time response over the existing LQR based PI/PID tuning methods with less control effort. The effect of non-dominant pole on the stability and robustness of the controller has also been discussed.

  14. Time delay control of hydraulic manipulators with continuous nonsingular terminal sliding mode

    Institute of Scientific and Technical Information of China (English)

    王尧尧; 陈家旺; 顾临怡; 李晓东

    2015-01-01

    For the position tracking control of hydraulic manipulators, a novel method of time delay control (TDC) with continuous nonsingular terminal sliding mode (CNTSM) was proposed in this work. Complex dynamics of the hydraulic manipulator is approximately canceled by time delay estimation (TDE), which means the proposed method is model-free and no prior knowledge of the dynamics is required. Moreover, the CNTSM term with a fast-TSM-type reaching law ensures fast convergence and high-precision tracking control performance under heavy lumped uncertainties. Despite its considerable robustness against lumped uncertainties, the proposed control scheme is continuous and chattering-free and no pressure sensors are required in practical applications. Theoretical analysis and experimental results show that faster and higher-precision position tracking performance is achieved compared with the traditional CNTSM-based TDC method using boundary layers.

  15. An iterative symplectic pseudospectral method to solve nonlinear state-delayed optimal control problems

    Science.gov (United States)

    Peng, Haijun; Wang, Xinwei; Zhang, Sheng; Chen, Biaosong

    2017-07-01

    Nonlinear state-delayed optimal control problems have complex nonlinear characters. To solve this complex nonlinear problem, an iterative symplectic pseudospectral method based on quasilinearization techniques, the dual variational principle and pseudospectral methods is proposed in this paper. First, the proposed method transforms the original nonlinear optimal control problem into a series of linear quadratic optimal control problems. Then, a symplectic pseudospectral method is developed to solve these converted linear quadratic state-delayed optimal control problems. Coefficient matrices in the proposed method are sparse and symmetric since the dual variational principle is used, which makes the proposed method highly efficient. Converged numerical solutions with high precision can be obtained after a few iterations due to the benefit of the local pseudospectral method and quasilinearization techniques. In the numerical simulations, other numerical methods were used for comparisons. The numerical simulation results show that the proposed method is highly accurate, efficient and robust.

  16. Dynamic disturbance rejection controllers for neutral time delay systems with application to a central heating system

    Institute of Scientific and Technical Information of China (English)

    KOUMBOULIS Fotis N.; KOUVAKAS Nikolaos D.; PARASKEVOPOULOS Paraskevas N.

    2009-01-01

    In the present paper the problem of disturbance rejection of single input-single output neutral time delay systems with multiple measurable disturbances is solved via dynamic controllers. In particular, the general form of the controller matrices is presented, while the necessary and sufficient conditions for the controller to be realizable are offered. The proposed technique is applied to a test case neutral time delay central heating system. In particular, the nonlinear model of the plant and its linearized approximation are presented. Based on the linearized model, a two-stage controller is designed in order to regulate the room temperature and the boiler effluent temperature. The performance of the closed loop system is investigated through computational experiments.

  17. Observer-based approximate optimal tracking control for time-delay systems with external disturbances

    Science.gov (United States)

    Su, Hao; Tang, Gong-You

    2016-09-01

    This paper proposes a successive approximation design approach of observer-based optimal tracking controllers for time-delay systems with external disturbances. To solve a two-point boundary value problem with time-delay and time-advance terms and obtain the optimal tracking control law, two sequences of vector differential equations are constructed first. Second, the convergence of the sequences of the vector differential equations is proved to guarantee the existence and uniqueness of the control law. Third, a design algorithm of the optimal tracking control law is presented and the physically realisable problem is addressed by designing a disturbance state observer and a reference input state observer. An example of an industrial electric heater is given to demonstrate the efficiency of the proposed approach.

  18. Distance Constrained Based Adaptive Flocking Control for Multiagent Networks with Time Delay

    Directory of Open Access Journals (Sweden)

    Qing Zhang

    2015-01-01

    Full Text Available The flocking control of multiagent system is a new type of decentralized control method, which has aroused great attention. The paper includes a detailed research in terms of distance constrained based adaptive flocking control for multiagent system with time delay. Firstly, the program on the adaptive flocking with time delay of multiagent is proposed. Secondly, a kind of adaptive controllers and updating laws are presented. According to the Lyapunov stability theory, it is proved that the distance between agents can be larger than a constant during the motion evolution. What is more, velocities of each agent come to the same asymptotically. Finally, the analytical results can be verified by a numerical example.

  19. Stabilization Control for Linear Switching Stochastic Systems Against Time-Delay in Communication Channel

    Institute of Scientific and Technical Information of China (English)

    Dongfang Lv; Shen Cong

    2015-01-01

    The paper is concerned with stabilization problem for a class of stochastic switching systems with time⁃delay in the detection of switching signal. By using binomial model, Poisson process, and Wiener process to describe time⁃delay, switching signal, and exogenous disturbance, respectively, the system under investigation is entirely set in a stochastic framework. The influence of the random time⁃delay is combined into reconstructing the switching signal of overall closed⁃loop system and changes the distribution property of switching points. Therefore, based on the asymptotical behaviors of Poisson processes and Wiener processes, the almost surely exponential stability conditions are established. Furthermore, a design methodology is posed for solving the stabilization control.

  20. Observer-based passive control of linear time-delay systems with parametric uncertainty

    Energy Technology Data Exchange (ETDEWEB)

    Cui Baotong [Research Center of Control Science and Engineering, Southern Yangtze University, 1800 Lihu Raod, Wuxi, Jiangsu 214122 (China)]. E-mail: btcui@sohu.com; Hua Mingang [Research Center of Control Science and Engineering, Southern Yangtze University, 1800 Lihu Raod, Wuxi, Jiangsu 214122 (China)]. E-mail: huamingang@yahoo.com.cn

    2007-04-15

    This paper deals with the problem of observer-based passive control of a class of uncertain linear systems with delayed state and parameter uncertainties. This problem aims at designing the linear state observers such that, for all admissible parameter uncertainties, the observation process remains robustly stable and passive, independently of the time delay. The time delay is assumed to be unknown, and the parameter uncertainties are allowed to be norm-bounded and appear in all the matrices of the state-space model. An effective matrix inequality methodology is developed to solve the proposed problem. We derive the conditions for the existence of the desired robust passive observers, and then characterize the analytical expression of these observers in terms of some free parameters. A numerical example demonstrates the validity and applicability of the present approach.

  1. Takagi-Sugeno fuzzy-model-based fault detection for networked control systems with Markov delays.

    Science.gov (United States)

    Zheng, Ying; Fang, Huajing; Wang, Hua O

    2006-08-01

    A Takagi-Sugeno (T-S) model is employed to represent a networked control system (NCS) with different network-induced delays. Comparing with existing NCS modeling methods, this approach does not require the knowledge of exact values of network-induced delays. Instead, it addresses situations involving all possible network-induced delays. Moreover, this approach also handles data-packet loss. As an application of the T-S-based modeling method, a parity-equation approach and a fuzzy-observer-based approach for fault detection of an NCS were developed. An example of a two-link inverted pendulum is used to illustrate the utility and viability of the proposed approaches.

  2. Early identification and delay to treatment in myocardial infarction and stroke: differences and similarities

    Directory of Open Access Journals (Sweden)

    Herlitz Johan

    2010-09-01

    Full Text Available Abstract Background The two major complications of atherosclerosis are acute myocardial infarction (AMI and acute ischemic stroke. Both are life-threatening conditions characterised by the abrupt cessation of blood flow to respective organs, resulting in an infarction. Depending on the extent of the infarction, loss of organ function varies considerably. In both conditions, it is possible to limit the extent of infarction with early intervention. In both conditions, minutes count. This article aims to describe differences and similarities with regard to the way patients, bystanders and health care providers act in the acute phase of the two diseases with the emphasis on the pre-hospital phase. Method A literature search was performed on the PubMed, Embase (Ovid SP and Cochrane Library databases. Results In both conditions, symptoms vary considerably. Patients appear to suspect AMI more frequently than stroke and, in the former, there is a gender gap (men suspect AMI more frequently than women. With regard to detection of AMI and stroke at dispatch centre and in Emergency Medical Service (EMS there is room for improvement in both conditions. The use of EMS appears to be higher in stroke but the overall delay to hospital admission is shorter in AMI. In both conditions, the fast track concept has been shown to influence the delay to treatment considerably. In terms of diagnostic evaluation by the EMS, more supported instruments are available in AMI than in stroke. Knowledge of the importance of early treatment has been reported to influence delays in both AMI and stroke. Conclusion Both in AMI and stroke minutes count and therefore the fast track concept has been introduced. Time to treatment still appears to be longer in stroke than in AMI. In the future improvement in the early detection as well as further shortening to start of treatment will be in focus in both conditions. A collaboration between cardiologists and neurologists and also between

  3. Listening to the Patient Voice in Narcolepsy: Diagnostic Delay, Disease Burden, and Treatment Efficacy

    Science.gov (United States)

    Maski, Kiran; Steinhart, Erin; Williams, David; Scammell, Thomas; Flygare, Julie; McCleary, Kimberly; Gow, Monica

    2017-01-01

    Study Objectives: Describe common symptoms, comorbidities, functional limitations, and treatment responsiveness among patients with narcolepsy. Investigate the effect of pediatric onset of narcolepsy symptoms on time to diagnosis of narcolepsy and presence of comorbid depression. Methods: Cross-sectional survey of 1,699 people in the United States with self-reported diagnosis of narcolepsy. We utilized mixed-methods data analyses to report study findings. Results: Most participants reported receiving a diagnosis of narcolepsy more than 1 y after symptom onset. We found that the strongest predictor of this delayed diagnosis was pediatric onset of symptoms (odds ratio = 2.4, p narcolepsy symptoms. Overall, participants reported that fatigue and cognitive difficulties were their most burdensome symptoms in addition to sleepiness and cataplexy. The majority of participants reported residual daytime fatigue and/or sleepiness despite treatment. Most participants reported they could not perform at work or school as well as they would like because of narcolepsy symptoms. Conclusions: This study provides unique insight into the narcolepsy disease experience. The study quantifies the problem of diagnostic delay for narcolepsy patients in the United States and highlights that symptoms are more likely to be missed if they develop before 18 y of age. These results suggest that narcolepsy awareness efforts should be aimed at parents, pediatric health care providers, school professionals, and children/adolescents themselves. Disease burden is high because of problems with fatigue, cognition, and persistence of residual symptoms despite treatment. Citation: Maski K, Steinhart E, Williams D, Scammell T, Flygare J, McCleary K, Gow M. Listening to the patient voice in narcolepsy: diagnostic delay, disease burden and treatment efficacy. J Clin Sleep Med. 2017;13(3):419–425. PMID:27923434

  4. Factors involved in the delay of treatment initiation for cervical cancer patients: A nationwide population-based study.

    Science.gov (United States)

    Shen, Szu-Ching; Hung, Yao-Ching; Kung, Pei-Tseng; Yang, Wen-Hui; Wang, Yueh-Hsin; Tsai, Wen-Chen

    2016-08-01

    Cervical cancer ranks as the fourth leading cause of cancer death in women worldwide. In Taiwan, although the universal health insurance system has achieved 99.9% coverage and ensured easy access to medical care, some cervical cancer patients continue to delay initiation of definitive treatment after diagnosis. This study focused on cervical cancer patients who delayed treatment for at least 4 months, and examined the characteristics, related factors, and survival in these patients.Data on patients with a new confirmed diagnosis of cervical cancer by the International Federation of Gynecology and Obstetrics (FIGO) staging system between 2005 and 2010 were obtained from the National Health Insurance Research Database and the Taiwan Cancer Registry. Logistic regression analysis was performed to analyze the association of various factors with treatment delay. The Cox proportional hazards model was used to analyze the effects of various factors on mortality risk.The rate of treatment delay for cervical cancer decreased steadily from 6.46% in 2005 to 2.48% in 2010. Higher rates of treatment delay were observed among patients who were aged ≥75 years (9.91%), had severe comorbidity, had stage IV (9.50%), diagnosing hospital level at nonmedical center, or at public hospital ownership. Factors that correlated with treatment delay were age ≥75 years (odds ratio [OR] = 2.42), higher comorbidity Charlson comorbidity index (CCI) 4-6, or ≥7 (OR = 1.60, 2.00), cancer stage IV (OR = 2.60), the diagnosing hospital being a regional, district hospital, or other (OR = 3.00, 4.01, 4.60), and at public hospital ownership. Those who delayed treatment had 2.31 times the mortality risk of those who underwent timely treatment (P cervical cancer treatment in Taiwan was associated with age, comorbidity, cancer stage, diagnosing hospital level, and hospital ownership. Delaying treatment for ≥4 months substantially raised mortality risk in cervical cancer patients.

  5. 11th International Federation of Automatic Control (IFAC) Workshop on Time-Delay Systems

    CERN Document Server

    Fridman, Emilia; Sename, Olivier; Dugard, Luc

    2016-01-01

    This book mostly results from a selection of papers presented during the 11th IFAC (International Federation of Automatic Control) Workshop on Time-Delay Systems, which took place in Grenoble, France, February 4 - 6, 2013.  During this event, 37 papers were presented. Taking into account the reviewers' evaluation and the papers' presentation the best papers have been selected and collected into the present volume. The authors of 13 selected papers were invited to participate to this book and provided a more detailed and improved version of the conference paper. To enrich the book, three more chapters have been included from specialists on time-delay systems who presented their work during the 52nd IEEE Conference on Decision and Control, which held in December 10 - 13, 2013, at Florence, Italy. The content of the book is divided into four main parts as follows: Modeling, Stability analysis, Stabilization and control, and Input-delay systems. Focusing on various topics of time-delay systems, this book will be...

  6. Robust Stability of Fractional Order Time-Delay Control Systems: A Graphical Approach

    OpenAIRE

    Radek Matušů; Roman Prokop

    2015-01-01

    The paper deals with a graphical approach to investigation of robust stability for a feedback control loop with an uncertain fractional order time-delay plant and integer order or fractional order controller. Robust stability analysis is based on plotting the value sets for a suitable range of frequencies and subsequent verification of the zero exclusion condition fulfillment. The computational examples present the typical shapes of the value sets of a family of closed-loop characteristic qua...

  7. H∞ Control Based on LMIs for a Class of Time-delay Switched Systems

    Institute of Scientific and Technical Information of China (English)

    Chun-ming LI; Xue-min TIAN

    2010-01-01

    The problem of H∞ stability analysis and control synthesis of switched systems with delayed states under arbitrary switching laws is considered. By means of Lyapunov function and linear matrix inequality tools, sufficient condition of H∞ stability is presented in terms of linear matrix inequalities. Furthermore, the robust H∞ control synthesis via state feedback and output feedback is studied. Finally, a numerical example is given to demonstrate the effectiveness of the proposed method.

  8. Nonlinear H∞ control of structured uncertain stochastic neural networks with discrete and distributed time varying delays

    Institute of Scientific and Technical Information of China (English)

    Chen Di-Lan; Zhang Wei-Dong

    2008-01-01

    This paper is concerned with the problem of robust H∞ control for structured uncertain stochastic neural networks with both discrete and distributed time varying delays. A sufficient condition is presented for the existence of H∞ control based on the Lyapunov stability theory. The stability criterion is described in terms of linear matrix inequalities (LMIs),which can be easily checked in practice. An example is provided to demonstrate the effectiveness of the proposed result.

  9. Robust H-infinity reliable control for a class of nonlinear uncertain neutral delay systems

    Institute of Scientific and Technical Information of China (English)

    Ximing SUN; Jun ZHAO; Bing CHEN

    2004-01-01

    This paper focuses on the robust H-infinity reliable control for a class of nonlinear neutral delay systems with uncertainties and actuator failures.We design a state feedback controller in terms of linear matrix inequality(LMI)such that the plant satisfies robust H-infinity performance for all admissible uncertainties,and actuator failures among a prespecified subset of actuators.An example is also given to illustrate the effectiveness of the proposed approach.

  10. PID Controller Stabilization for First-order Integral Processes with Time Delay

    Institute of Scientific and Technical Information of China (English)

    2006-01-01

    Due to the widespread application of the PID controller in industrial control systems, it is desirable to know the complete set of all the stabilizing PID controllers for a given plant before the controller design and tuning. In this paper,the stabilization problems of the classical proportionalintegral-derivative (PID) controller and the singleparameter PID controller (containing only one adjustable parameter) for integral processes with time delay are investigated, respectively. The complete set of stabilizing parameters of the classical PID controller is determined using a version of the Hermite-Biehler Theorem applicable to quasipolynomials. Since the stabilization problem of the single-parameter PID controller cannot be treated by the Hermite-Biehler Theorem, a simple method called duallocus diagram is employed to derive the stabilizing range of the single-parameter PID controller. These results provide insight into the tuning of the PID controllers.

  11. Reduced-order observer-based robust synchronisation control of cold rolling mills with measurement delay

    Science.gov (United States)

    Jiao, Xiaohong; Mei, Zhisong

    2010-10-01

    To improve the quality of strip thickness, synchronisation control is investigated for cold rolling mills driven by dual-cylinder electro-hydraulic servo systems. Realising synchronised control in hydraulic automatic gauge control (HAGC) systems of cold rolling mills has challenges with not only the inherent nonlinearities of hydraulic servo systems and uncertainties of load variation but also measurement delay of strip thickness. Since all states are not measurable in practice, output feedback robust synchronisation control problem should be addressed for uncertain nonlinear systems with output delay. Thus, a reduced-order observer-based robust synchronous controller is presented by employing Lyapunov functional stability theory. The controller designed by incorporating the integral of the position synchronisation error of two pistons into state variables successfully guarantees asymptotic convergence to zero of both tracking errors and synchronisation error simultaneously regardless of the nonlinearities and uncertainties as well as the measurement delay. Simulation results in a model obtained from a real cold strip rolling mill demonstrate the effectiveness of the approach.

  12. The fatty acid compositions of erythrocyte and plasma polar lipids in children with autism, developmental delay or typically developing controls and the effect of fish oil intake

    OpenAIRE

    Bell, John Gordon; Miller, Deborah; MacDonald, Donald J.; MacKinlay, Elizabeth E.; Dick, James R.; Cheseldine, Sally; Boyle, Rose M.; Graham, Catriona; O'Hare, Anne E.

    2010-01-01

    The erythrocyte and plasma fatty acid compositions of children with autism were compared in a case-control study with typically developing (TD) children and with children showing developmental delay (DD). Forty-five autism subjects were age-matched with TD controls and thirty-eight with DD controls. Fatty acid data were compared using paired t tests. In addition, blood fatty acids from treatment-naive autism subjects were compared with autism subjects who had consumed fish oil supplements by ...

  13. Tracking with asymptotic sliding mode and adaptive input delay effect compensation of nonlinearly perturbed delayed systems applied to traffic feedback control

    Science.gov (United States)

    Mirkin, Boris; Haddad, Jack; Shtessel, Yuri

    2016-09-01

    Asymptotical sliding mode-model reference adaptive control design for a class of systems with parametric uncertainty, unknown nonlinear perturbation and external disturbance, and with known input and state delays is proposed. To overcome the difficulty to directly predict the plant state under uncertainties, a control design is based on a developed decomposition procedure, where a 'generalised error' in conjunction with auxiliary linear dynamic blocks with adjustable gains is introduced and the sliding variable is formed on the basis of this error. The effect of such a decomposition is to pull the input delay out of first step of the design procedure. As a result, similarly to the classical Smith predictor, the adaptive control architecture based only on the lumped-delays, i.e. without conventional in such cases difficult-implemented distributed-delay blocks. Two new adaptive control schemes are proposed. A linearisation-based control design is constructed for feedback control of an urban traffic region model with uncertain dynamics. Simulation results demonstrate the effectiveness of the developed adaptive control method.

  14. Non-fragile observer-based passive control for descriptor systems with time-delay

    Institute of Scientific and Technical Information of China (English)

    QinLI; Qingling ZHANG; Jichun WANG

    2009-01-01

    This paper investigates the problem of non-fragile observer-based passive control for descriptor systems with time-delay.The perturbations in both the control gain and observer gain of the observer-based controller are considered.For the cases of the additive perturbations and multiplicative perturbations,sufficient conditions are given such that the closed-loop systems are admissible and passive with dissipation 77.The observer-based controller gains could be obtained from the solutions of linear matrix inequalities (LMIs).Moreover,the maximum dissipation of the system is provided.Simulation examples are given to show the effectiveness of the deign methods.

  15. Adaptive neural control for a class of perturbed strict-feedback nonlinear time-delay systems.

    Science.gov (United States)

    Wang, Min; Chen, Bing; Shi, Peng

    2008-06-01

    This paper proposes a novel adaptive neural control scheme for a class of perturbed strict-feedback nonlinear time-delay systems with unknown virtual control coefficients. Based on the radial basis function neural network online approximation capability, an adaptive neural controller is presented by combining the backstepping approach and Lyapunov-Krasovskii functionals. The proposed controller guarantees the semiglobal boundedness of all the signals in the closed-loop system and contains minimal learning parameters. Finally, three simulation examples are given to demonstrate the effectiveness and applicability of the proposed scheme.

  16. Attitude tracking control for spacecraft formation with time-varying delays and switching topology

    Science.gov (United States)

    Yang, Hongjiu; You, Xiu; Hua, Changchun

    2016-09-01

    This paper investigates attitude dynamic tracking control for spacecraft formation in the presence of unmeasurable velocity information with time-varying delays and switching topology. Based on an extended state observer, a nonlinear attitude tracking control approach is developed for spacecraft attitude model formulated by Euler-Lagrangian equations. The attitude tracking controller allows for external disturbances and absence of angular velocity information. Both auto-stable region techniques and a Lyapunov function approach are developed to prove ultimately bounded tracking. Simulation results demonstrate effectiveness of the nonlinear control techniques proposed in this paper.

  17. Performance evaluation of time-delay control schemes for uninterruptible power supplies

    DEFF Research Database (Denmark)

    Loh, P.C; Tang, Y.; Blaabjerg, Frede

    2008-01-01

    Uninterruptible power supplies (UPSs) are commonly used to supply quality power at a well-regulated voltage to all nonlinear and unbalanced loads. To achieve that, a number of control schemes have since been proposed with the traditional double-loop linear control scheme being more popular because...... a more powerful processor. Avoiding these added complexities, this paper presents and compares a number of time-delay control schemes for UPS control, where the main building blocks needed are readily available memory storages and simple transfer functions formulated with either no or at least one...

  18. Control, anticontrol and synchronization of chaos for an autonomous rotational machine system with time-delay

    Energy Technology Data Exchange (ETDEWEB)

    Ge Zhengming [Department of Mechanical Engineering, National Chiao Tung University, 1001 Ta Hsueh Road, Hsinchu 300, Taiwan (China)]. E-mail: zmg@cc.nctu.edu.tw; Lee, Ching-I [Department of Mechanical Engineering, National Chiao Tung University, 1001 Ta Hsueh Road, Hsinchu 300, Taiwan (China)

    2005-03-01

    Chaos, control, anticontrol and synchronization of chaos for an autonomous rotational machine system with a hexagonal centrifugal governor and spring for which time-delay effect is considered are studied in the paper. By applying numerical results, phase diagram and power spectrum are presented to observe periodic and chaotic motions. Linear feedback control and adaptive control algorithm are used to control chaos effectively. Linear and nonlinear feedback synchronization and phase synchronization for the coupled systems are presented. Finally, anticontrol of chaos for this system is also studied.

  19. Remediation of time-delay effects in tokamak axisymmetric control loops by optimal tuning and robust predictor augmentation

    Energy Technology Data Exchange (ETDEWEB)

    Sondak, D.; Arastoo, R. [Department of Mechanical Engineering and Mechanics, Lehigh University, Bethlehem, PA 18015 (United States); Schuster, E., E-mail: schuster@lehigh.edu [Department of Mechanical Engineering and Mechanics, Lehigh University, Bethlehem, PA 18015 (United States); Walker, M.L. [General Atomics, San Diego, CA 92121 (United States)

    2011-10-15

    It is sometimes incorrectly assumed that, because superconducting tokamaks already have significant intrinsic or imposed sources of control delay, introducing extra delays/lags into the axisymmetric control loops will have negligible detrimental impact on the plasma control. This study exposes and quantifies the detrimental effects imposed by time delays/lags in the control loop in superconducting tokamaks, using as an example the plasma current control and radial position control in a vertically stable circular plasma in the KSTAR tokamak. Delays and lags in the power supplies, data acquisition, and vessel structure are taken into account. Optimal tuning of PID controllers in combination with an ohmic-flux control strategy is proposed as a possible method for remediating the negative effects of time delays/lags. In addition, an augmentation of the control loop by the introduction of a robust predictor has been proposed to improve the performance of the time-delayed closed-loop system when the amount of delay/lag in the loop is unknown. The Nyquist dual locus technique based on the Argument Principle in complex theory is employed to assess stability of the optimally tuned closed-loop system in the presence of time delays.

  20. Outer Synchronization of Complex Networks with Nondelayed and Time-Varying Delayed Couplings via Pinning Control or Impulsive Control

    Directory of Open Access Journals (Sweden)

    Jianwen Feng

    2015-01-01

    synchronization between two complex networks. Secondly, impulsive control is added to the nodes of corresponding response network. Based on the generalized inequality about time-varying delayed different equation, the sufficient conditions for outer synchronization are derived. Finally, some examples are presented to demonstrate the effectiveness and feasibility of the results obtained in this paper.

  1. Decentralized adaptive fuzzy output feedback control of nonlinear interconnected systems with time-varying delay

    Science.gov (United States)

    Wang, Qin; Chen, Zuwen; Song, Aiguo

    2017-01-01

    A robust adaptive output-feedback control scheme based on K-filters is proposed for a class of nonlinear interconnected time-varying delay systems with immeasurable states. It is difficult to design the controller due to the existence of the immeasurable states and the time-delay couplings among interconnected subsystems. This difficulty is overcome by use of the fuzzy system, the K-filters and the appropriate Lyapunov-Krasovskii functional. Based on Lyapunov theory, the closed-loop control system is proved to be semi-global uniformly ultimately bounded (SGUUB), and the output tracking error converges to a neighborhood of zero. Simulation results demonstrate the effectiveness of the approach.

  2. Robust chaos synchronization based on adaptive fuzzy delayed feedback $\\mathcal{H}_{∞}$ control

    Indian Academy of Sciences (India)

    Choon Ki Ahn

    2012-03-01

    In this paper, we propose a new adaptive $\\mathcal_{∞}$ synchronization strategy, called an adaptive fuzzy delayed feedback $\\mathcal_{∞}$ synchronization (AFDFHS) strategy, for chaotic systems with uncertain parameters and external disturbances. Based on Lyapunov–Krasovskii theory, Takagi–Sugeno (T–S) fuzzy model and adaptive delayed feedback $\\mathcal_{∞}$ control scheme, the AFDFHS controller is presented such that the synchronization error system is asymptotically stable with a guaranteed $\\mathcal_{∞}$ performance. It is shown that the design of the AFDFHS controller with adaptive law can be achieved by solving a linear matrix inequality (LMI), which can be easily facilitated by using some standard numerical packages. An illustrative example is given to demonstrate the effectiveness of the proposed AFDFHS approach.

  3. Observer-based Adaptive Iterative Learning Control for Nonlinear Systems with Time-varying Delays

    Institute of Scientific and Technical Information of China (English)

    Wei-Sheng Chen; Rui-Hong Li; Jing Li

    2010-01-01

    An observer-based adaptive iterative learning control (AILC) scheme is developed for a class of nonlinear systems with unknown time-varying parameters and unknown time-varying delays. The linear matrix inequality (LMI) method is employed to design the nonlinear observer. The designed controller contains a proportional-integral-derivative (PID) feedback term in time domain. The learning law of unknown constant parameter is differential-difference-type, and the learning law of unknown time-varying parameter is difference-type. It is assumed that the unknown delay-dependent uncertainty is nonlinearly parameterized. By constructing a Lyapunov-Krasovskii-like composite energy function (CEF), we prove the boundedness of all closed-loop signals and the convergence of tracking error. A simulation example is provided to illustrate the effectiveness of the control algorithm proposed in this paper.

  4. Stability Analysis of a Class of Second Order Sliding Mode Control Including Delay in Input

    Directory of Open Access Journals (Sweden)

    Pedro R. Acosta

    2013-01-01

    Full Text Available This paper deals with a class of second order sliding mode systems. Based on the derivative of the sliding surface, sufficient conditions are given for stability. However, the discontinuous control signal depend neither on the derivative of sliding surface nor on its estimate. Time delay in control input is also an important issue in sliding mode control for engineering applications. Therefore, also sufficient conditions are given for the time delay size on the discontinuous input signal, so that this class of second order sliding mode systems might have amplitude bounded oscillations. Moreover, amplitude of such oscillations may be estimated. Some numerical examples are given to validate the results. At the end, some conclusions are given on the possibilities of the results as well as their limitations.

  5. MIMO PI Controllers for LTI Systems with Multiple Time Delays Based on ILMIs and Sensitivity Functions

    Directory of Open Access Journals (Sweden)

    Wajdi Belhaj

    2017-01-01

    Full Text Available In this paper, a MIMO PI design procedure is proposed for linear time invariant (LTI systems with multiple time delays. The controller tuning is established in two stages and guarantees performances for set-point changes, disturbance variations, and parametric uncertainties. In the first stage, an iterative linear matrix inequality (ILMI approach is extended to design PI controllers for systems with multiple time delays without performance guarantee, a priori. The second stage is devoted to improve the closed-loop performances by minimizing sensitivity functions. Simulations results carried out on the unstable distillation column, the stable industrial scale polymerization (ISP reactor, and the non-minimum phase 4-tank benchmark prove the efficiency of the proposed approach. A comparative analysis with the conventional internal model control (IMC approach, a multiloop IMC-PI approach, and a previous ILMI PID approach proves the superiority of the proposed approach compared to the related ones.

  6. Nonlinear H{sub {infinity}} control of stochastic time-delay systems with Markovian switching

    Energy Technology Data Exchange (ETDEWEB)

    Wei Guoliang [School of Information Sciences and Technology, Donghua University, Shanghai 200051 (China); Wang Zidong [School of Information Sciences and Technology, Donghua University, Shanghai 200051 (China); Department of Information Systems and Computing, Brunel University, Uxbridge, Middlesex UB8 3PH (United Kingdom)], E-mail: Zidong.Wang@brunel.ac.uk; Shu Huisheng [Department of Applied Mathematics, Donghua University, Shanghai 200051 (China)

    2008-02-15

    In this paper, the stabilization and H{sub {infinity}} control problems are investigated for a class of stochastic time-delay systems with both nonlinear disturbances and Markovian jumping parameters. The purpose of the stochastic stabilization problem is to design a memoryless state feedback controller such that, for the addressed nonlinear disturbances as well as Markovian jumping parameters, the closed-loop system is stochastically exponentially stable in the mean square, independent of the time delay. In the H{sub {infinity}} control problem, in addition to the mean-square exponential stability requirement, a prescribed H{sub {infinity}} performance index is required to be achieved. By using Ito's differential formula and the Lyapunov stability theory, sufficient conditions for the solvability of these problems are derived in term of linear matrix inequalities, which can be easily checked by resorting to available software packages. A numerical example is exploited to demonstrate the effectiveness of the proposed results.

  7. Robust model predictive control for discrete uncertain nonlinear systems with time-delay via fuzzy model

    Institute of Scientific and Technical Information of China (English)

    SU Cheng-li; WANG Shu-qing

    2006-01-01

    An extended robust model predictive control approach for input constrained discrete uncertain nonlinear systems with time-delay based on a class of uncertain T-S fuzzy models that satisfy sector bound condition is presented. In this approach, the minimization problem of the "worst-case" objective function is converted into the linear objective minimization problem involving linear matrix inequalities (LMIs) constraints. The state feedback control law is obtained by solving convex optimization of a set of LMIs. Sufficient condition for stability and a new upper bound on robust performance index are given for these kinds of uncertain fuzzy systems with state time-delay. Simulation results of CSTR process show that the proposed robust predictive control approach is effective and feasible.

  8. Spectral enhancement of single attosecond pulses by time-delayed control field

    CERN Document Server

    Chu, Wei-Chun

    2012-01-01

    An optical coherent control scheme has been proposed where an extreme ultraviolet single attosecond pulse (SAP) propagates through a dense helium gas dressed by a time-delayed femtosecond laser pulse. The laser pulse couples the 2s2p(^1P) and 2s^2(^1S) autoionizing states when the SAP excites the 2s2p state. After going through the gas, the spectral and temporal profiles of the SAP are strongly distorted. A narrowed but enhanced spike in the spectrum shows up for specific intensities and time delays of the laser, which exemplifies the control of a broadband photon wave packet by an ultrashort dressing field for the first time. We analyze the photon and electron dynamics and conclude on the dressing condition that maximizes this enhancement. The result demonstrates new possibilities of attosecond optical control.

  9. Impulsive control for a Takagi-Sugeno fuzzy model with time-delay and its application to chaotic systems

    Institute of Scientific and Technical Information of China (English)

    Peng Shi-Guo; Yu Si-Min

    2009-01-01

    A control approach where the fuzzy logic methodology is combined with impulsive control is developed for controlling some time-delay chaotic systems in this paper. We first introduce impulses into each subsystem with delay of the Takagi-Sugeno (TS) fuzzy IF-THEN rules and then present a unified TS impulsive fuzzy model with delay for chaos control. Based on the new model,a simple and unified set of conditions for controlling chaotic systems is derived by the Lyapunov-Razumikhin method,and a design procedure for estimating bounds on control matrices is also given.Several numerical examples are presented to illustrate the effectiveness of this method.

  10. Treatment with interferon-alpha delays disease in swine infected with a highly virulent CSFV strain.

    Science.gov (United States)

    Fernandez-Sainz, I; Ramanathan, P; O'Donnell, V; Diaz-San Segundo, F; Velazquez-Salinas, L; Sturza, D F; Zhu, J; de los Santos, T; Borca, M V

    2015-09-01

    Interferon-alpha (IFNα) can effectively inhibit or abort a viral infection within the host. It has been reported that IFN induction and production is hindered during classical swine fever virus (CSFV) infection. Most of those studies have been performed in vitro, making it difficult to elucidate the actual role of IFNs during CSFV infection in swine. Here, we report the effect of IFNα treatment (delivered by a replication defective recombinant human adenovirus type 5, Ad5) in swine experimentally infected with highly virulent CSFV strain Brescia. Treatment with two different subtypes of IFNα delayed the appearance of CSF-related clinical signs and virus replication although it did not prevent lethal disease. This is the first report describing the effect of IFNα treatment during CSFV infection in swine. Published by Elsevier Inc.

  11. Adaptive Neural Control of Pure-Feedback Nonlinear Time-Delay Systems via Dynamic Surface Technique.

    Science.gov (United States)

    Min Wang; Xiaoping Liu; Peng Shi

    2011-12-01

    This paper is concerned with robust stabilization problem for a class of nonaffine pure-feedback systems with unknown time-delay functions and perturbed uncertainties. Novel continuous packaged functions are introduced in advance to remove unknown nonlinear terms deduced from perturbed uncertainties and unknown time-delay functions, which avoids the functions with control law to be approximated by radial basis function (RBF) neural networks. This technique combining implicit function and mean value theorems overcomes the difficulty in controlling the nonaffine pure-feedback systems. Dynamic surface control (DSC) is used to avoid "the explosion of complexity" in the backstepping design. Design difficulties from unknown time-delay functions are overcome using the function separation technique, the Lyapunov-Krasovskii functionals, and the desirable property of hyperbolic tangent functions. RBF neural networks are employed to approximate desired virtual controls and desired practical control. Under the proposed adaptive neural DSC, the number of adaptive parameters required is reduced significantly, and semiglobal uniform ultimate boundedness of all of the signals in the closed-loop system is guaranteed. Simulation studies are given to demonstrate the effectiveness of the proposed design scheme.

  12. Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic Systems

    Directory of Open Access Journals (Sweden)

    Yassine Bouteraa

    2011-01-01

    Full Text Available We investigate the cooperative control and global asymptotic synchronization Lagrangian system groups, such as industrial robots. The proposed control approach works to accomplish multirobot systems synchronization under an undirected connected communication topology. The control strategy is to synchronize each robot in position and velocity to others robots in the network with respect to the common desired trajectory. The cooperative robot network only requires local neighbor-to-neighbor information exchange between manipulators and does not assume the existence of an explicit leader in the team. It is assumed that network robots have the same number of joints and equivalent joint work spaces. A combination of the lyapunov-based technique and the cross-coupling method has been used to establish the multirobot system asymptotic stability. The developed control combines trajectory tracking and coordination algorithms. To address the time-delay problem in the cooperative network communication, the suggested synchronization control law is shown to synchronize multiple robots as well as to track given trajectory, taking into account the presence of the time delay. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem.

  13. Novel Adaptive Learning Control of Linear Systems with Completely Unknown Time Delays

    Institute of Scientific and Technical Information of China (English)

    Wei-Sheng Chen

    2009-01-01

    A novel output-feedback adaptive learning control approach is developed for a class of linear time-delay systems. Three kinds of uncertainties: time delays, number of time delays, and system parameters are all assumed to be completely unknown, which is different from the previous work. The design procedure includes two steps. First, according to the given periodic desired reference output and the allowed bound of tracking error, a suitable finite Fourier series expansion (FSE) is chosen as a practical reference output to he tracked. Second, by expressing the delayed practical reference output as a known time-varying vector multiplied by an unknown constant vector, we combine three kinds of uncertainties into an unknown constant vector and then estimate the vector by designing an adaptive law. By constructing a Lyapunov-Krasovskii functional, it is proved that the system output can asymptotically track the practical reference signal An example is provided to illustrate the effectiveness of the control scheme developed in this paper.

  14. Plasmodium falciparum malaria: Convergent evolutionary trajectories towards delayed clearance following artemisinin treatment.

    Science.gov (United States)

    Wilairat, Prapon; Kümpornsin, Krittikorn; Chookajorn, Thanat

    2016-05-01

    Malaria is a major global health challenge with 300million new cases every year. The most effective regimen for treating Plasmodium falciparum malaria is based on artemisinin and its derivatives. The drugs are highly effective, resulting in rapid clearance of parasites even in severe P. falciparum malaria patients. During the last five years, artemisinin-resistant parasites have begun to emerge first in Cambodia and now in Thailand and Myanmar. At present, the level of artemisinin resistance is relatively low with clinical presentation of delayed artemisinin clearance (a longer time to reduce parasite load) and a small decrease in artemisinin sensitivity in cultured isolates. Nevertheless, multiple genetic loci associated with delayed parasite clearance have been reported, but they cannot account for a large portion of cases. Even the most well-studied kelch 13 propeller mutations cannot always predict the outcome of artemisinin treatment in vitro and in vivo. Here we propose that delayed clearance by artemisinin could be the result of convergent evolution, driven by multiple trajectories to overcome artemisinin-induced stress, but precluded to become full blown resistance by high fitness cost. Genetic association studies by several genome-wide approaches reveal linkage disequilibrium between multiple loci and delayed parasite clearance. Genetic manipulations at some of these loci already have resulted in loss in artemisinin sensitivity. The notion presented here is by itself consistent with existing evidence on artemisinin resistance and has the potential to be explored using available genomic data. Most important of all, molecular surveillance of artemisinin resistance based on multi-genic markers could be more informative than relying on any one particular molecular marker. Copyright © 2016 Elsevier Ltd. All rights reserved.

  15. Decoding Delay Controlled Completion Time Reduction in Instantly Decodable Network Coding

    KAUST Repository

    Douik, Ahmed

    2016-06-27

    For several years, the completion time and the decoding delay problems in Instantly Decodable Network Coding (IDNC) were considered separately and were thought to act completely against each other. Recently, some works aimed to balance the effects of these two important IDNC metrics but none of them studied a further optimization of one by controlling the other. This paper investigates the effect of controlling the decoding delay to reduce the completion time below its currently best-known solution in both perfect and imperfect feedback with persistent erasure channels. To solve the problem, the decodingdelay- dependent expressions of the users’ and overall completion times are derived in the complete feedback scenario. Although using such expressions to find the optimal overall completion time is NP-hard, the paper proposes two novel heuristics that minimizes the probability of increasing the maximum of these decoding-delay-dependent completion time expressions after each transmission through a layered control of their decoding delays. Afterward, the paper extends the study to the imperfect feedback scenario in which uncertainties at the sender affects its ability to anticipate accurately the decoding delay increase at each user. The paper formulates the problem in such environment and derives the expression of the minimum increase in the completion time. Simulation results show the performance of the proposed solutions and suggest that both heuristics achieves a lower mean completion time as compared to the best-known heuristics for the completion time reduction in perfect and imperfect feedback. The gap in performance becomes more significant as the erasure of the channel increases.

  16. Robust control for a biaxial servo with time delay system based on adaptive tuning technique.

    Science.gov (United States)

    Chen, Tien-Chi; Yu, Chih-Hsien

    2009-07-01

    A robust control method for synchronizing a biaxial servo system motion is proposed in this paper. A new network based cross-coupled control and adaptive tuning techniques are used together to cancel out the skew error. The conventional fixed gain PID cross-coupled controller (CCC) is replaced with the adaptive cross-coupled controller (ACCC) in the proposed control scheme to maintain biaxial servo system synchronization motion. Adaptive-tuning PID (APID) position and velocity controllers provide the necessary control actions to maintain synchronization while following a variable command trajectory. A delay-time compensator (DTC) with an adaptive controller was augmented to set the time delay element, effectively moving it outside the closed loop, enhancing the stability of the robust controlled system. This scheme provides strong robustness with respect to uncertain dynamics and disturbances. The simulation and experimental results reveal that the proposed control structure adapts to a wide range of operating conditions and provides promising results under parameter variations and load changes.

  17. 'Lost to follow up': rethinking delayed and interrupted HIV treatment among married Swazi women.

    Science.gov (United States)

    Dlamini-Simelane, Thandeka T T; Moyer, Eileen

    2017-03-01

    Through various campaigns and strategies, more women are being tested for HIV in countries with a high prevalence of the virus. Despite the ready availability of treatment at government clinics in sub-Saharan African countries like Swaziland, women consistently report difficulty in maintaining access to treatment. Drawing on two individual case studies selected from a larger study of the so-called leaky cascade in Swaziland, we illustrate the protracted journeys married women undertake to initiate treatment. We demonstrate how women manoeuvre tactically after diagnosis, highlight factors that influence their decisions related to initiating treatment, and detail the actors involved in the decision-making process. Our research shows the persistence of structural factors that inhibit access, including economic constraints, gender inequality and patriarchal social norms. Patients referred as ‘lost to follow up’ are in many cases actively pursuing treatment within a context that includes the biomedical health system, but also extends well beyond it. We argue that the phrase ‘lost to follow up’ conceals the complex social navigation required by women to initiate and maintain access to treatment. Further, we suggest that many of the logistical challenges of monitoring and tracking people with HIV can be better addressed by taking into account the structural and social aspects of delayed treatment initiative.

  18. Beyond the PI Controllers in First-Order Time-Delay Systems

    CERN Document Server

    Martelli, Gianpasquale

    2007-01-01

    In this paper the following three control systems for first-order time-delay plants are studied and compared: the feedback proportional-integral controller (PI), the Smith Predictor (SP) and a proposed variable structure consisting of two blocks. This structure acts as an open-loop proportional controller, after a setpoint change, and as a closed-loop integrating controller, when the error enters in a preset band. A chart, provided with the borderlines of the stability zone and with the curves of two design parameters, is implemented for each controller. The first parameter is the overshoot of the controlled variable, evaluated during a step change of the setpoint and made equal to a preset value. The second parameter, only for the PI and SP controllers, is the integral of the squared error (ISE), which must have the minimum allowable value. The ISE is also assumed as comparison index and the proposed controller appears as the best.

  19. Delay and probability discounting of sexual and monetary outcomes in individuals with cocaine use disorders and matched controls.

    Science.gov (United States)

    Johnson, Matthew W; Johnson, Patrick S; Herrmann, Evan S; Sweeney, Mary M

    2015-01-01

    Individuals with cocaine use disorders are disproportionately affected by HIV/AIDS, partly due to higher rates of unprotected sex. Recent research suggests delay discounting of condom use is a factor in sexual HIV risk. Delay discounting is a behavioral economic concept describing how delaying an event reduces that event's value or impact on behavior. Probability discounting is a related concept describing how the uncertainty of an event decreases its impact on behavior. Individuals with cocaine use disorders (n = 23) and matched non-cocaine-using controls (n = 24) were compared in decision-making tasks involving hypothetical outcomes: delay discounting of condom-protected sex (Sexual Delay Discounting Task), delay discounting of money, the effect of sexually transmitted infection (STI) risk on likelihood of condom use (Sexual Probability Discounting Task), and probability discounting of money. The Cocaine group discounted delayed condom-protected sex (i.e., were more likely to have unprotected sex vs. wait for a condom) significantly more than controls in two of four Sexual Delay Discounting Task partner conditions. The Cocaine group also discounted delayed money (i.e., preferred smaller immediate amounts over larger delayed amounts) significantly more than controls. In the Sexual Probability Discounting Task, both groups showed sensitivity to STI risk, however the groups did not differ. The Cocaine group did not consistently discount probabilistic money more or less than controls. Steeper discounting of delayed, but not probabilistic, sexual outcomes may contribute to greater rates of sexual HIV risk among individuals with cocaine use disorders. Probability discounting of sexual outcomes may contribute to risk of unprotected sex in both groups. Correlations showed sexual and monetary results were unrelated, for both delay and probability discounting. The results highlight the importance of studying specific behavioral processes (e.g., delay and probability

  20. A time-delay equation: well-posedness to optimal control

    Directory of Open Access Journals (Sweden)

    Yildirim Kenan

    2016-01-01

    Full Text Available In this paper, well-posedness, controllability and optimal control for a time-delay beam equation are studied. The equation of motion is modeled as a time-delayed distributed parameter system(DPS and includes Heaviside functions and their spatial derivatives due to the finite size of piezoelectric patch actuators used to suppress the excessive vibrations based on displacement and moment conditions. The optimal control problem is defined with the performance index including a weighted quadratic functional of the displacement and velocity which is to be minimized at a given terminal time and a penalty term defined as the control voltage used in the control duration. Optimal control law is obtained by using Maximum principle and hence, the optimal control problem is transformed the into a boundary-, initial and terminal value problem.The explicit solution of the control problem is obtained by eigenfunction expansions of the state and adjoint variables. Numerical results are presented to show the effectiveness and applicability of the piezoelectric control.