Journal ArticleDOI
Wave-variable framework for networked robotic systems with time delays and packet losses
Seng-Ming Puah,Yen-Chen Liu +1 more
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TLDR
A packet management, called wave-variable modulation, is proposed to cope with the proposed networked robotic system under time delays and packet losses, and is demonstrated to be stable with guaranteed position regulation.Abstract:
This paper investigates the problem of networked control system for nonlinear robotic manipulators under time delays and packet loss by using passivity technique. With the utilisation of wave variables and a passive remote controller, the networked robotic system is demonstrated to be stable with guaranteed position regulation. For the input/output signals of robotic systems, a discretisation block is exploited to convert continuous-time signals to discrete-time signals, and vice versa. Subsequently, we propose a packet management, called wave-variable modulation, to cope with the proposed networked robotic system under time delays and packet losses. Numerical examples and experimental results are presented to demonstrate the performance of the proposed wave-variable-based networked robotic systems.read more
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Journal ArticleDOI
Passivity-based control framework for task-space bilateral teleoperation with parametric uncertainty over unreliable networks.
Hsin Chen Hu,Yen-Chen Liu +1 more
TL;DR: It is demonstrated that with the proposed control algorithms, the teleoperation system is stable and position tracking is guaranteed when the system is subjected to parametric uncertainties and communication delays.
Journal ArticleDOI
Event-triggered control for adaptive bilateral teleoperators with communication delays
Shin Chen Hu,Yen-Chen Liu +1 more
TL;DR: Novel control schemes to guarantee stability and tracking performance of bilateral teleoperation by considering an event-based transmission are proposed and the Zeno behaviour is demonstrated to be excluded in the proposed event-triggered teleoperation systems.
Journal ArticleDOI
Nonlinear bilateral teleoperators with non-collocated remote controller over delayed network
TL;DR: In this article, the authors proposed a novel control framework, where the remote controller is non-collocated with the robot in the environment, and the remote robot only needs to send out sensory information and receive control commands from the local side.
References
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Bruno Sinopoli,Luca Schenato,Massimo Franceschetti,Kameshwar Poolla,Michael I. Jordan,S. Shankar Sastry +5 more
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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.
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