A new control structure to reduce time delay of tracking sensors by applying an angular position sensor

Area of Science:

• Control Systems Engineering
• Robotics
• Mechatronics

Background:

• Time-delay in tracking sensors degrades system performance, reducing speed and increasing errors.
• Existing tracking systems often rely solely on tracking sensors, limiting their responsiveness.

Purpose of the Study:

• To propose a new tracking control structure to mitigate the time-delay effect in tracking sensors.
• To enhance tracking speed and minimize tracking errors in dynamic systems.

Main Methods:

• Integration of an angular position sensor with the existing tracking sensor.
• Design and application of a compensator to counteract time-delay effects.
• Evaluation of the control structure under constant and variable time-delay conditions.

Main Results:

• The proposed structure significantly improves tracking speed and reduces tracking error compared to traditional methods.
• Stability conditions for both constant and variable time-delay scenarios were analyzed.
• The robustness of the new tracking control structure was demonstrated.

Conclusions:

• The novel tracking control structure effectively compensates for time-delay effects, enhancing system performance.
• The integrated approach offers a significant improvement in tracking accuracy and speed.
• The structure exhibits robust performance and stability under varying time-delay conditions.