Loop Shaping for Transparency and Stability Robustness in Time-Delayed Bilateral Telemanipulation

2004 ◽  
Vol 126 (3) ◽  
pp. 650-656 ◽  
Author(s):  
Kevin B. Fite and ◽  
Michael Goldfarb ◽  
Angel Rubio
Keyword(s):  
Time Delay ◽  
Communication Channels ◽  
Smith Predictor ◽  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Stability Robustness ◽  
Loop Shaping ◽  
And Performance ◽  
Control Methodology

This paper presents a control methodology that provides transparency and stability robustness in bilateral telemanipulation systems that include a significant time delay in the communication channels. The method utilizes an adaptive Smith predictor to compensate for the time delay, and incorporates a previously published loop shaping approach to design a compensator for transparency and stability robustness of the loop. The method is experimentally demonstrated on a single degree-of-freedom telemanipulation system, and is shown to effectively provide stability and performance robustness.

Multivariable Control Design for a Bilateral Telemanipulator

2003 ◽  
Author(s):  
Kevin B. Fite ◽  
Michael Goldfarb
Keyword(s):  
Impedance Control ◽  
Singular Values ◽  
Degree Of Freedom ◽  
Stability Robustness ◽  
Remote Environment ◽  
And Performance ◽  
The Stability ◽  
Three Degree Of Freedom ◽  
And Control ◽  
Control Methodology

This paper presents an architecture and control methodology for a multi-degree-of-freedom teleoperator system. The approach incorporates impedance control of the telemanipulator pair and formulates the system as a single feedback loop encompassing the human operator, telemanipulator, and remote environment. In so doing, multivariable Nyquist-like techniques are used to design compensation for enhanced stability robustness and performance. A measure of the transparency exhibited by the multivariable teleoperator system is attained using matrix singular values. The approach is experimentally demonstrated on a three degree-of-freedom scaled telemanipulator pair with a highly coupled environment. Using direct measurement of the power delivered to the operator to assess the system’s stability robustness, along with the proposed measure of multivariable transparency, the loop-shaping compensation is shown to improve the stability robustness by a factor of almost two and the transparency by more than a factor of five.

Analytical research on a single degree-of-freedom semi-active oscillator with time delay

2012 ◽  
Vol 19 (12) ◽  
pp. 1895-1905 ◽  
Author(s):  
Yong-Jun Shen ◽  
Shao-Pu Yang ◽  
Hai-Jun Xing ◽  
Cun-Zhi Pan
Keyword(s):  
Time Delay ◽  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Analytical Research

Resonances of a Nonlinear Single-Degree-of-Freedom System with Time Delay in Linear Feedback Control

2010 ◽  
Vol 65 (5) ◽  
pp. 357-368 ◽  
Author(s):  
Atef F. El-Bassiouny ◽  
Salah El-Kholy
Keyword(s):  
Steady State ◽  
Time Delay ◽  
Feedback Control ◽  
Fixed Points ◽  
Multiple Scales ◽  
Degree Of Freedom ◽  
Linear Feedback ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Subharmonic Resonances

The primary and subharmonic resonances of a nonlinear single-degree-of-freedom system under feedback control with a time delay are studied by means of an asymptotic perturbation technique. Both external (forcing) and parametric excitations are included. By means of the averaging method and multiple scales method, two slow-flow equations for the amplitude and phase of the primary and subharmonic resonances and all other parameters are obtained. The steady state (fixed points) corresponding to a periodic motion of the starting system is investigated and frequency-response curves are shown. The stability of the fixed points is examined using the variational method. The effect of the feedback gains, the time-delay, the coefficient of cubic term, and the coefficients of external and parametric excitations on the steady-state responses are investigated and the results are presented as plots of the steady-state response amplitude versus the detuning parameter. The results obtained by two methods are in excellent agreement

Optimization of PID controller parameters for active control of single degree of freedom structures

2019 ◽  
Vol 5 (4) ◽  
pp. 130
Author(s):  
Serdar Ulusoy ◽  
Sinan Melih Niğdeli ◽  
Gebrail Bekdaş
Keyword(s):  
Time Delay ◽  
Active Control ◽  
Pid Controller ◽  
Structural Model ◽  
Degree Of Freedom ◽  
Control Force ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Near Fault ◽  
Optimum Parameters

In active control of structures, the parameters of controllers used application must be perfectly tuned. In that case, a good vibration reduction performance can be obtained without a stability problem. During the tuning process, the limit of control force and time delay of controller system must be considered for applicable design. In the study, the optimum parameters of Proportional-Derivative-Integral (PID) type controllers that are proportional gain (K), integral time (Ti) and derivative time (Td) were optimized by using teaching learning-based optimization (TLBO). TLBO is a metaheuristic algorithm imitating the teaching and learning phases of education in classroom. The optimization was done according to the responses of the structure under a directivity pulse of near fault ground motions. In the study, time delay was considered as 20 ms and the optimum parameters of PID controller for a single degree of freedom (SDOF) structural model was found for different control force limits. The performances and feasibility of the method were evaluated by using sets of near fault earthquake records.

On the Use of Two Channels for Bilateral Telemanipulation

2000 ◽  
Author(s):  
Kevin B. Fite ◽  
John E. Speich ◽  
Michael Goldfarb
Keyword(s):  
Feedback Control ◽  
Control Problem ◽  
Frequency Domain ◽  
Degree Of Freedom ◽  
Control Loop ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Stability Robustness ◽  
The Stability ◽  
Loop Form

Abstract A two-channel architecture is presented for the control of a bilateral telemanipulation system. The use of two channels enables the authors to cast the control problem in a classical unity-feedback control loop form, which in turn enables the use of frequency-domain loop shaping techniques. Specifically, the human-manipulators-environment loop can be supplemented with a compensator of a lead/lag form, which can be utilized to simultaneously increase the stability robustness and the transparency bandwidth of the system. This design approach is illustrated with a single-degree-of-freedom example.

Paper 5: Design Considerations Relating to Tractor Cabin Suspensions

1969 ◽  
Vol 184 (17) ◽  
pp. 37-49
Author(s):  
D. J. Hilton
Keyword(s):  
Experimental Work ◽  
Degrees Of Freedom ◽  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Agricultural Engineering ◽  
Single Degree ◽  
Design Considerations ◽  
Future Developments ◽  
Safety Aspects ◽  
And Performance

This paper describes work being carried out at the National Institute of Agricultural Engineering to determine the suitability and performance of various suspension designs and types for the improvement of tractor operator ride. Analytical and experimental work described relates mostly to suspension designs which are in principle of the single-degree-of-freedom type, though the feasibility of suspensions involving two or more degrees of freedom is considered. The advantage of employing a suspension frequency below that normally obtainable with seat suspensions is clearly shown. Some of the resulting design implications (including economic and safety aspects) are discussed both in relation to existing tractor configurations and to possible future developments in tractor evolution.

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