Teleoperation control scheme for magnetically actuated microrobots with haptic guidance

2020 ◽  
Vol 16 (2) ◽  
pp. 161-171
Author(s):  
Ehab Al Khatib ◽  
Xiao Zhang ◽  
Min Jun Kim ◽  
Yildirim Hurmuzlu
Keyword(s):  
Haptic Guidance ◽  
Magnetically Actuated ◽  
Control Scheme

scholarly journals Stability and Transparency of Delayed Bilateral Teleoperation with Haptic Feedback

2019 ◽  
Vol 29 (4) ◽  
pp. 681-692 ◽  
Author(s):  
Edgar Estrada ◽  
Wen Yu ◽  
Xiaoou Li
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Human Operator ◽  
Delay Systems ◽  
Bilateral Teleoperation ◽  
Haptic Guidance ◽  
Control Scheme ◽  
The Stability ◽  
Teleoperation Systems ◽  
Whole Systems

Abstract Haptic guidance can improve control accuracy in bilateral teleoperation. With haptic sensing, the human operator feels that he grabs the robot on the remote side. There are results on the stability and transparency analysis of teleoperation without haptic guidance, and the analysis of teleoperation with haptic feedback is only for linear and zero time-delay systems. In this paper, we consider more general cases: the bilateral teleoperation systems have time-varying communication delays, the whole systems are nonlinear, and they have force feedback. By using the admittance human operator model, we propose a new control scheme with the interaction passivity of the teleoperator. The stability and transparency of the master-slave system are proven with the Lyapunov–Krasovskii method. Numerical simulations illustrate the efficiency of the proposed control methods.

Comments on 'An adaptive control scheme for robot manipulators'

1989 ◽  
Vol 49 (5) ◽  
pp. 1805-1809
Author(s):  
Yong-Duan Song ◽  
Wei-Bing Gao
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Control Scheme ◽  
Adaptive Control Scheme

Adaptive Control Scheme for Coupled Tank Process

2018 ◽  
pp. 89-95
Author(s):  
Vinodhini M.
Keyword(s):  
Adaptive Control ◽  
Nonlinear Behaviour ◽  
Simulation Studies ◽  
Input Output ◽  
Control Scheme ◽  
Direct Model ◽  
Multivariable Process ◽  
Model Reference Adaptive ◽  
Siso System ◽  
Adaptive Control Scheme

The objective of this paper is to develop a Direct Model Reference Adaptive Control (DMRAC) algorithm for a MIMO process by extending the MIT rule adopted for a SISO system. The controller thus developed is implemented on Laboratory interacting coupled tank process through simulation. This can be regarded as the relevant process control in petrol and chemical industries. These industries involve controlling the liquid level and the flow rate in the presence of nonlinearity and disturbance which justifies the use of adaptive techniques such as DMRAC control scheme. For this purpose, mathematical models are obtained for each of the input-output combinations using white box approach and the respective controllers are developed. A detailed analysis on the performance of the chosen process with these controllers is carried out. Simulation studies reveal the effectiveness of proposed controller for multivariable process that exhibits nonlinear behaviour.

A Study on Concurrency Control Scheme for Scalability of Blockchain

2020 ◽  
Vol 20 (3) ◽  
pp. 71-78
Author(s):  
Yong-Hyeog Kang ◽  
◽  
Wonhyung Park
Keyword(s):  
Concurrency Control ◽  
Control Scheme

An Efficient Congestion Control Scheme for Data Using Tokens in Network

2012 ◽  
Vol 2 (11) ◽  
pp. 104-106
Author(s):  
C.Md.Jamsheed C.Md.Jamsheed ◽  
◽  
D.Surendra D.Surendra ◽  
D.Venkatesh D.Venkatesh
Keyword(s):  
Congestion Control ◽  
Control Scheme
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