Abstract: Provided are systems and methods for vehicle control time delay compensation. Data associated with a vehicle state of the vehicle is provided. Data associated with at least one control parameter is received from the control system, the data generated by the control system based on the vehicle state. A time delay related to generation of the data associated with the at least one control parameter is determined by the control system, the time delay associated with a period of time from when the data associated with the vehicle state was transmitted to the control system to when the data associated with the at least one control parameter was received by the DBW system. A DBW parameter is determined based on the data associated with the at least one control parameter and the time delay, wherein the DBW parameter is used for traversal of a path by the vehicle.

Abstract: A system for tuning a control system uses a simplified tuning procedure to generate robustly stabilizing tuning parameters that reduce or eliminate undesired system oscillations in the presence of long system dead times or phase lag. A control method is used to establish a relationship between the plant parameters of a controlled system and the tuning parameters of a parameterized active disturbance rejection controller determined to be optimal or substantially optimal for the control system. The plant parameters include the system gain, time constant, and dead time. Corresponding tuning parameters include the controller bandwidth and a system gain estimate. Using the system gain estimate as a tuning parameter can alleviate the influence of large dead times or phase lags on system response. Once established, these fixed relationships can be used to determine suitable tuning parameters for specific motion or process control applications based on the system gain and dominant constraints of the system.

Abstract: A system for tuning a control system uses a simplified tuning procedure to generate robustly stabilizing tuning parameters that reduce or eliminate undesired system oscillations in the presence of long system dead times or phase lag. A control method is used to establish a relationship between the plant parameters of a controlled system and the tuning parameters of a parameterized active disturbance rejection controller determined to be optimal or substantially optimal for the control system. The plant parameters include the system gain, time constant, and dead time. Corresponding tuning parameters include the controller bandwidth and a system gain estimate. Using the system gain estimate as a tuning parameter can alleviate the influence of large dead times or phase lags on system response. Once established, these fixed relationships can be used to determine suitable tuning parameters for specific motion or process control applications based on the system gain and dominant constraints of the system.