Year: 2025
Type: article
Abstract: In the field of life sciences, delay effects are often modeled with two compartments that do not model any particular organ. In this paper the use of this double counterpart model is investigated in Fixed-Point Iteration-based (FPI) Control, which was introduced in 2009 as an adaptive extension to the Computed Torque Control method. This controller is particularly sensitive to delays and measurement noise due to its iterative nature. It was recognized that, besides modeling the delay effect, this signal tackling also provided the controller with some noise filtering ability; the formerly accumulated effects of noise filtering and formally delayed sampling were avoided. This smeared delay has a noticeable effect even slightly later in time, making the adaptive method based on it more robust. This assumption was investigated both on a simulation and experimental basis.
Source: Actuators
DOI: 10.3390/act14100490
Institution: Obuda University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
OpenAlex ID: W4415030775