Quantization in time, like sampling, and quantization in space, like round-off have counter-intuitive effects in time-delay systems. These can be used in a positive way in several simple control strategies to stabilize otherwise unstable equilibria, in spite of the fact, or actually, just because of the fact that delay tends to destabilize steady-states, tends to make bifurcations subcritical and tends to produce chaotic and transient chaotic behavior in the tangle of unstable limit cycles in the infinite dimensional phase spaces. After a brief introduction to the basic models of human and robotic balancing, a couple of models and experiments are discussed where time delay and sensory threshold, or sampling and round-off are relevant. The examples represent that practically satisfactory balancing can be achieved even with slow and inaccurate computers like the brain.
The lecture summarizes the results of the project MCMS-0116K01 titled “Constant and Periodic Delays in Control of Mechanical Systems”.
报告人简介:
匈牙利Budapest University of Technology and Economics应用力学系教授，匈牙利科学院院士及匈牙利科学院工程学部主席，欧洲科学院院士，美国 ASME Thomas K. Caughey Dynamics Award 获得者。
