Insperger, Tamás
(BME, Dept. of Applied Mechanics)
Balancing with reaction delay
Reaction time delay plays a key role in mechanical models of balancing. The relation between the reaction delay and the balancing performance can be demonstrated on the inverted pendulum paradigm. An inverted pendulum cannot be balanced if the reaction delay is too large compared to the time constant of the pendulum. This is why humans cannot balance a stick shorter than 30~40cm on their fingertip (the typical human reaction time is about 150~250ms). In the presentation, different control concepts are overviewed and their efficiency is discussed in terms of the maximum allowed reaction time (critical time delay). Proportional-derivative-acceleration feedback with single and multiple delays, predictor feedback, act-and-wait and event-driven intermittent control concepts are discussed. The critical time delay is determined by analyzing the underlying characteristic equation or the corresponding monodromy operator. For the simplest time-invariant cases, the multiplicity induced dominance (MID) property of quasi-polynomials holds: the critical time delay is achieved when the dominant (rightmost) root is 0 with multiplicity larger than 2.
The talk is held in Hungarian!
Az előadás
nyelve magyar!
Date: Nov 30, Tuesday
4:15pm
Place: BME, Building „Q”, Room
QBF13