scholarly journals An Analysis of Sampling Effect on the Absolute Stability of Discrete-time Bilateral Teleoperation Systems

2019 ◽  
Author(s):  
Amir Aminzadeh Ghavifekr ◽  
Seyedshahab Chehraghi ◽  
Giacomo De Rossi
Keyword(s):  
Discrete Time ◽  
Absolute Stability ◽  
Bilateral Teleoperation ◽  
Sampling Effect ◽  
The Absolute ◽  
Teleoperation Systems

scholarly journals Absolute stability of a class of fractional positive nonlinear systems

2019 ◽  
Vol 29 (1) ◽  
pp. 93-98 ◽  
Author(s):  
Tadeusz Kaczorek
Keyword(s):  
Nonlinear Systems ◽  
Discrete Time ◽  
Continuous Time ◽  
Absolute Stability ◽  
Sufficient Conditions ◽  
Necessary And Sufficient Conditions ◽  
Discrete Time Systems ◽  
The Absolute ◽  
Necessary And Sufficient ◽  
Time Systems

Abstract The positivity and absolute stability of a class of fractional nonlinear continuous-time and discrete-time systems are addressed. Necessary and sufficient conditions for the positivity of this class of nonlinear systems are established. Sufficient conditions for the absolute stability of this class of fractional positive nonlinear systems are also given.

FPAA-Based Control of Bilateral Teleoperation Systems for Enhanced User Task Performance

2017 ◽  
Vol 26 (2) ◽  
pp. 210-227 ◽  
Author(s):  
Ting Yang ◽  
Junfeng Hu ◽  
Wei Geng ◽  
Yili Fu ◽  
Mahdi Tavakoli
Keyword(s):  
Task Performance ◽  
Discrete Time ◽  
Sampling Period ◽  
Bilateral Teleoperation ◽  
System A ◽  
Programmable Analog ◽  
Teleoperation System ◽  
Field Programmable ◽  
Teleoperation Systems ◽  
Field Programmable Analog Array

In a bilateral teleoperation system, discrete-time implementation of the controller can cause performance degradation. This is due to a well-known stability-imposed upper bound on the product of the discrete-time controller's gain and the sampling period. In this article, for a bilateral teleoperation system, a continuous-time controller based on a Field Programmable Analog Array (FPAA) is deployed and compared in terms of performance with its discrete-time counterpart. Experimental results show that, unlike the discrete-time controller, the FPAA-based controller helps the human user complete teleoperation tasks that require high controller gains such as when a large impedance needs to be displayed against the user's hand. Also, an experimental object stiffness discrimination study shows that large sampling periods, necessitating low control gains for maintaining stability, lead to unacceptable task performance by the user; however, the users show an improved ability to discriminate the various objects if the teleoperation controller is implemented using an FPAA.

scholarly journals Discrete-time control of bilateral teleoperation systems: a review

Robotica ◽  
2017 ◽  
Vol 36 (4) ◽  
pp. 552-569 ◽  
Author(s):  
Amir Aminzadeh Ghavifekr ◽  
Amir Rikhtehgar Ghiasi ◽  
Mohammad Ali Badamchizadeh
Keyword(s):  
Communication Networks ◽  
Discrete Time ◽  
Continuous Time ◽  
Controller Design ◽  
Design Guidelines ◽  
Bilateral Teleoperation ◽  
Transmission Delays ◽  
Time Control ◽  
The Stability ◽  
Teleoperation Systems

SUMMARYThe possibility of operating in remote environments using teleoperation systems has been considered widely in the control literature. This paper presents a review on the discrete-time teleoperation systems, including issues such as stability, passivity and time delays. Using discrete-time methods for a master-slave teleoperation system can simplify control implementation. Varieties of control schemes have been proposed for these systems and major concerns such as passivity, stability and transparency have been studied. Recently, unreliable communication networks affected by packet loss and variable transmission delays have been received much attention. Thus, it is worth considering discrete-time theories for bilateral teleoperation architectures, which are formulated on the same lines as the continuous-time systems. Despite the extensive amount of researches concerning continuous-time teleoperation systems, only a few papers have been published on the analysis and controller design for discrete bilateral forms. This paper takes into account the challenges for the discrete structure of bilateral teleoperation systems and notifies the recent contributions in this area. The effect of sampling time on the stability-transparency trade-off and the task performance is taken into consideration in this review. These studies can help to design guidelines to have better transparency and stable teleoperation systems.

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