Journal ArticleDOI
A New Predictive Approach for Bilateral Teleoperation With Applications to Drive-by-Wire Systems
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TLDR
Under a set of suited hypotheses, the proposed control structure of bilateral drive-by-wire teleoperation systems is shown to be uniformly ultimate stable, even in the presence of time-varying delays.Abstract:
In this paper, a new predictive approach is proposed for the impedance control of bilateral drive-by-wire teleoperation systems. The proposed control structure includes two mirror predictors/observers in both the master and slave sides. These predictors/observers are used to simultaneously estimate the master and slave internal dynamics, and thereby to avoid the use of the delayed transmitted information. As a consequence, the influence of the delay on the whole system can be minimized and the performance can be improved. Under a set of suited hypotheses, the proposed control structure is shown to be uniformly ultimate stable, even in the presence of time-varying delays. Simulation results are presented to show the effectiveness of the proposed approach. The behavior of the control structure is also experimentally demonstrated while performing remote steering of a small autonomous vehicleread more
Citations
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Robust Control of Time-delay Systems
TL;DR: Robust control of time-delay systems is shown to be a viable option for smart grids in the short-term and medium-term.
Journal ArticleDOI
Time-Delay Compensation by Communication Disturbance Observer for Bilateral Teleoperation Under Time-Varying Delay
TL;DR: The validity of the time-delay compensation method in the cases of both constant delay and time-varying delay is verified by experimental results compared with Smith predictor.
Journal ArticleDOI
Integrated adaptive robust control for multilateral teleoperation systems under arbitrary time delays
TL;DR: In this paper, a nonlinear adaptive robust control technique is used to deal with nonlinearities, unknown parameters, and modeling uncertainties existing in the master, slave, and environmental dynamics, so that the excellent tracking performance is achieved in both master and slave sides.
Journal ArticleDOI
Adaptive Fuzzy Control for Synchronization of Nonlinear Teleoperators With Stochastic Time-Varying Communication Delays
Zhijun Li,Xiaoqing Cao,Nan Ding +2 more
TL;DR: Adaptive fuzzy control is investigated for nonlinear teleoperators with time-delays, which ensures synchronization of positions and velocities of the master and slave manipulators, and does not rely on the use of the scattering transformation.
Journal ArticleDOI
Experimental Comparison Study of Control Architectures for Bilateral Teleoperators
TL;DR: The study investigates the effects of data losses, communication delays, and environmental constraints on a teleoperation system for different control techniques, which are based on wave variables, Smith predictors, and recent algorithms on synchronization.
References
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Linear Matrix Inequalities in System and Control Theory
TL;DR: In this paper, the authors present a brief history of LMIs in control theory and discuss some of the standard problems involved in LMIs, such as linear matrix inequalities, linear differential inequalities, and matrix problems with analytic solutions.
Journal ArticleDOI
Bilateral control of teleoperators with time delay
R.J. Anderson,Mark W. Spong +1 more
TL;DR: In this paper, a control law for teleoperators is presented which overcomes the instability caused by time delay by using passivity and scattering theory, a criterion is developed which shows why existing bilateral control systems are unstable for certain environments, and why the proposed bilateral control law is stable for any environment and any time delay.
Book
Delay Effects on Stability: A Robust Control Approach
TL;DR: In this article, Liapunov's second method and LMIs are used for closed-loop stability sets and stability regions in a closed loop with discrete delays and LTIs.