Journal ArticleDOI
Reset Control for Passive Bilateral Teleoperation
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TLDR
A novel approach is presented that combines passivity-based techniques and reset-control principles and it is possible to obtain simultaneously the robust stability properties of passive control and the performance improvement enabled by reset strategies.Abstract:
Communication delays are problematic for teleoperated systems. They give rise to a tradeoff between speed and robustness, which cannot be overcome by means of linear controllers. In order to solve this problem, in this paper, we present a novel approach that combines passivity-based techniques and reset-control principles. In this way, it is possible to obtain simultaneously the robust stability properties of passive control and the performance improvement enabled by reset strategies. Experimental and simulation results are presented, which confirm the good behavior achieved with this method.read more
Citations
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Journal ArticleDOI
Decoupling Strategy for Position and Force Control Based on Modal Space Disturbance Observer
TL;DR: The diagonalization method on the basis of the modal space disturbance observer is extended to suppress the interference between the position and force control systems and realize a bilateral control system.
Journal ArticleDOI
Reset compensation for temperature control: experimental application on heat exchangers
Angel Vidal,Alfonso Baños +1 more
TL;DR: In this article, the PI+CI reset compensator was designed by using a two-step method: first, a robust base PI compensator is tuned by using the Quantitative Feedback Theory to satisfy (robust) relative stability and tracking specifications; and secondly, a partial reset action is added to the base lineal PI compensators to improve transitory response.
Journal ArticleDOI
Heartbeat Synchronization With Haptic Feedback for Telesurgical Robot
TL;DR: This study aims to provide a surgeon with the means for feeling the tactile sensation of the remote organ, as well as synchronizing with its motion, through motion-canceling bilateral control, a teleoperation method for telesurgical robots.
Journal ArticleDOI
Spatiotemporal Coupler: Storage and Reproduction of Human Finger Motions
TL;DR: The use of the concept involving two types of coupling is proposed, and the related system is named “spatiotemporal coupler,” which connects human motions that are saved by haptic devices with different configurations according to the information for a human model.
Journal ArticleDOI
Brief paper: Stability analysis and design of reset control systems with discrete-time triggering conditions
TL;DR: It is revealed through an example that a well-designed reset control system can be regarded as a hybrid system combining an underdamped baseline system with an overdamped reset mode and the reset matrix can be adjusted to increase the damping ratio and thus further improve the transient performance.
References
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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
L2-Gain and Passivity Techniques in Nonlinear Control
TL;DR: In this article, a small gain and passivity of input-output maps are discussed. But the authors focus on the Hamiltonian system as passive systems and do not consider the Hamilton-Jacobi Inequalities.
Journal ArticleDOI
Bilateral teleoperation: An historical survey
Peter Hokayem,Mark W. Spong +1 more
TL;DR: This survey addresses the subject of bilateral teleoperation, a research stream with more than 50 years of history and one that continues to be a fertile ground for theoretical exploration and many applications.
Journal ArticleDOI
Part II: Rice Flour Beignets—A Case Study of the Culinary Innovation Process
TL;DR: The authors used a framework for culinary product innovations as a distinctive capability specifically to foodservice operations, and used a rice flour beignet project as a case study of the proposed process.
Journal ArticleDOI
Stable adaptive teleoperation
TL;DR: In this article, a physically motivated, passivity-based formalism is used to provide energy conservation and stability guarantees in the presence of transmission delays, and an adaptive tracking controller is incorporated for the control of the remote robotic system and can be used to simplify, transform or enhance the remote dynamics perceived by the operator.