A Simple Structure for Bilateral Transparent Teleoperation Systems With Time Delay

2008 ◽  
Vol 130 (4) ◽  
Author(s):  
Alireza Alfi ◽  
Mohammad Farrokhi
Keyword(s):  
Time Delay ◽  
Closed Loop ◽  
Simple Structure ◽  
Finite Impulse Response ◽  
Structure Design ◽  
Loop System ◽  
Bilateral Teleoperation ◽  
Closed Loop System ◽  
The Stability ◽  
Teleoperation Systems

This paper presents a simple structure design for bilateral teleoperation systems with uncertainties in time delay in communication channel. The goal is to achieve complete transparency and robust stability for the closed-loop system. For transparency, two local controllers are designed for the bilateral teleoperation systems. One local controller is responsible for tracking the master commands, and the other one is in charge of force tracking as well as guaranteeing the stability of the closed-loop system in the presence of uncertainties in time delay. The stability analysis will be shown analytically for two cases: (I) the possibly stability and (II) the intrinsically stability. Moreover, in Case II, in order to generate the proper inputs for the master controller in the presence of uncertainties in time delay, an adaptive finite impulse response (FIR) filter is designed to estimate the time delay. The advantages of the proposed method are threefold: (1) stability of the closed-loop system is guaranteed under some mild conditions, (2) the whole system is transparent, and (3) design of the local controllers is simple. Simulation results show good performance of the proposed method.

scholarly journals Robust LFC Strategy for Wind Integrated Time-Delay Power System Using EID Compensation

Energies ◽  
2019 ◽  
Vol 12 (17) ◽  
pp. 3223 ◽  
Author(s):  
Liu ◽  
Zhang ◽  
Zou
Keyword(s):  
Time Delay ◽  
Power System ◽  
Closed Loop ◽  
Frequency Control ◽  
Loop System ◽  
Load Frequency Control ◽  
System Stability ◽  
Linear Matrix ◽  
Closed Loop System ◽  
The Stability

This paper presents an active disturbance rejection control (ADRC) technique for load frequency control of a wind integrated power system when communication delays are considered. To improve the stability of frequency control, equivalent input disturbances (EID) compensation is used to eliminate the influence of the load variation. In wind integrated power systems, two area controllers are designed to guarantee the stability of the overall closed-loop system. First, a simplified frequency response model of the wind integrated time-delay power system was established. Then the state-space model of the closed-loop system was built by employing state observers. The system stability conditions and controller parameters can be solved by some linear matrix inequalities (LMIs) forms. Finally, the case studies were tested using MATLAB/SIMULINK software and the simulation results show its robustness and effectiveness to maintain power-system stability.

scholarly journals Stabilization of Teleoperation Systems with Communication Delays: An IMC Approach

2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Yuling Li
Keyword(s):  
Time Delays ◽  
Closed Loop ◽  
Internal Model Control ◽  
Bilateral Teleoperation ◽  
Closed Loop System ◽  
Teleoperation System ◽  
Model Control ◽  
The Stability ◽  
External Forces ◽  
Teleoperation Systems

The presence of time delays in communication introduces a limitation to the stability of bilateral teleoperation systems. This paper considers internal model control (IMC) design of linear teleoperation system with time delays, and the stability of the closed-loop system is analyzed. It is shown that the stability is guaranteed delay-independently. The passivity assumption for external forces is removed for the proposed design of teleoperation systems. The behavior of the resulting teleoperation system is illustrated by simulations.

Mode Decoupling Controller for Feedback Model Updating

2004 ◽  
Author(s):  
Hunsang Jung ◽  
Youngjin Park ◽  
K. C. Park
Keyword(s):  
Closed Loop ◽  
Model Updating ◽  
Control Method ◽  
Loop System ◽  
Mode Shapes ◽  
Closed Loop System ◽  
Sensitivity Matrix ◽  
Data Set ◽  
Conventional Methods ◽  
The Stability

A novel concept of feedback loop design for modal test and model updating is proposed. This method uses the closed-loop frequency information for parameter modifications to overcome the problems associated with the conventional methods employing the modal sensitivity matrix. To obtain new modal information from the closed-loop system, controllers should be effective in changing modal data while guaranteeing the stability of the closed-loop system. The present paper proposes a mode-decoupling controller that can alter a target mode while guaranteeing the stability of the closed-loop, and that can be constructed by using the measured open-loop, mode shapes. A simulation based on time domain input/output data is performed to evaluate the feasibility of the proposed control method, which is subsequently corroborated via experiments. Experimental data obtained on a beam via the proposed mode-decoupling controller have been applied to estimate thicknesses of a beam. The results show that the proposed approach outperforms conventional methods with a far less number of data set for the estimation of system parameters.

scholarly journals Exponential Stability of the Monotubular Heat Exchanger Equation with Time Delay in Boundary Observation

2017 ◽  
Vol 2017 ◽  
pp. 1-8
Author(s):  
Xue-Lian Jin ◽  
Yang Zhang ◽  
Fu Zheng ◽  
Bao-zhu Guo
Keyword(s):  
Heat Exchanger ◽  
Time Delay ◽  
Exponential Stability ◽  
Closed Loop ◽  
Abstract Cauchy Problem ◽  
Loop System ◽  
Physical Parameters ◽  
Closed Loop System ◽  
Close Loop System ◽  
Resolvent Estimates

The exponential stability of the monotubular heat exchanger equation with boundary observation possessing a time delay and inner control was investigated. Firstly, the close-loop system was translated into an abstract Cauchy problem in the suitable state space. A uniformly bounded C0-semigroup generated by the close-loop system, which implies that the unique solution of the system exists, was shown. Secondly, the spectrum configuration of the closed-loop system was analyzed and the eventual differentiability and the eventual compactness of the semigroup were shown by the resolvent estimates on some resolvent sets. This implies that the spectrum-determined growth assumption holds. Finally, a sufficient condition, which is related to the physical parameters in the system and is independent of the time delay, of the exponential stability of the closed-loop system was given.

scholarly journals Computation of time-delay for Delayed Network Controlled Temperature Control System

2021 ◽  
Vol 2070 (1) ◽  
pp. 012102
Author(s):  
V Venkatachalam ◽  
M Ramasubramanian ◽  
M Thirumarimurugan ◽  
D Prabhakaran
Keyword(s):  
Control System ◽  
Stability Analysis ◽  
Temperature Control ◽  
Closed Loop ◽  
Simulation Software ◽  
Loop System ◽  
Temperature Control System ◽  
Closed Loop System ◽  
The Stability ◽  
Time Invariant

Abstract This paper presents an Investigation on the stability of network controlled temperature control system having Time-Invariant feedback delays, by utilizing a direct method for TDS stability analysis. A PI controller based stability analysis for temperature control system with Time invariant feedback loop delay has been constructed in this paper. The stability problem has been formulated based on the transfer function model of the closed loop system with various time delays. For different subsets of the controller parameters, based on the stability criterion’s maximal permissible bound of the network link delay that the closed loop system can accommodate without losing the stability has been computed. The effectiveness of the obtained result was validated on a benchmark temperature control system using MATLAB simulation software.

Event-triggered Hꝏ control for NCS with time-delay and packet losses

2019 ◽  
Vol 37 (3) ◽  
pp. 918-934
Author(s):  
Jing Bai ◽  
Ying Wang ◽  
Li-Ying Zhao
Keyword(s):  
Time Delay ◽  
Closed Loop ◽  
Discrete Event ◽  
Sufficient Conditions ◽  
Loop System ◽  
Linear Matrix ◽  
Time Varying ◽  
Closed Loop System ◽  
Packet Losses ◽  
Event Triggered

Abstract This paper is concerned with the discrete event-triggered dynamic output-feedback ${H}_{\infty }$ control problem for the uncertain networked control system, where the time-varying sampling, network-induced delay and packet losses are taken into account simultaneously. The random packet losses are described via the Bernoulli distribution. And then, the closed-loop system is modelled as an augmented time-delay system with interval time-varying delay. By using the Lyapunov stability theory and the augmented state space method, the sufficient conditions for the asymptotic stability of the closed-loop system are proposed in the form of linear matrix inequalities. At the same time, the design method of the ${H}_{\infty }$ controller is created. Finally, a numerical example is employed to illustrate the effectiveness of the proposed method.

scholarly journals Operational Space Control of a Lightweight Robotic Arm Actuated by Shape Memory Alloy (SMA) Wires

2016 ◽  
Author(s):  
Serket Quintanar-Guzmán ◽  
Somasundar Kannan ◽  
Miguel A. Olivares-Mendez ◽  
Holger Voos
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Closed Loop ◽  
Loop System ◽  
Robotic Arm ◽  
Control Law ◽  
Closed Loop System ◽  
End Effector ◽  
Position Regulation ◽  
The Stability

This paper presents the design and control of a two link lightweight robotic arm using a couple of antagonistic Shape Memory Alloy (SMA) wires as actuators. A nonlinear robust control law for accurate positioning of the end effector of the two-link SMA based robotic arm is developed to handle the hysteresis behavior present in the system. The model presented consists of two subsystems: firstly the SMA wires model and secondly the dynamics of the robotic arm itself. The control objective is to position the robotic arm’s end effector in a given operational plane position. For this regulation problem a sliding mode control law is applied to the hysteretic system. Finally a Lyapunov analysis is applied to the closed-loop system demonstrating the stability of the system under given conditions. The simulation results demonstrate the accurate and fast response of the control law for position regulation. In addition, the stability of the closed-loop system can be corroborated.

Position/force control of robot manipulators using reinforcement learning

2019 ◽  
Vol 46 (2) ◽  
pp. 267-280 ◽  
Author(s):  
Adolfo Perrusquía ◽  
Wen Yu ◽  
Alberto Soria
Keyword(s):  
Reinforcement Learning ◽  
Force Control ◽  
Closed Loop ◽  
Position Error ◽  
Loop System ◽  
Closed Loop System ◽  
Content Type ◽  
Impedance Model ◽  
Impedance Parameters ◽  
The Stability

Purpose The position/force control of the robot needs the parameters of the impedance model and generates the desired position from the contact force in the environment. When the environment is unknown, learning algorithms are needed to estimate both the desired force and the parameters of the impedance model. Design/methodology/approach In this paper, the authors use reinforcement learning to learn only the desired force, then they use proportional-integral-derivative admittance control to generate the desired position. The results of the experiment are presented to verify their approach. Findings The position error is minimized without knowing the environment or the impedance parameters. Another advantage of this simplified position/force control is that the transformation of the Cartesian space to the joint space by inverse kinematics is avoided by the feedback control mechanism. The stability of the closed-loop system is proven. Originality/value The position error is minimized without knowing the environment or the impedance parameters. The stability of the closed-loop system is proven.

Observer-based sliding mode control for piezoelectric wing bending-torsion coupling flutter involving delayed output

2020 ◽  
pp. 107754632094912
Author(s):  
Da Li ◽  
Hui Yang ◽  
Na Qi ◽  
Jiaxin Yuan
Keyword(s):  
Time Delay ◽  
Sliding Mode Control ◽  
Linear Matrix Inequalities ◽  
Closed Loop ◽  
Sliding Mode ◽  
Loop System ◽  
Linear Matrix ◽  
Matrix Inequalities ◽  
Closed Loop System ◽  
Piezoelectric Patch

An observer-based sliding mode control scheme is proposed for suppressing bending-torsion coupling flutter motions of a wing aeroelastic system with delayed output by using the piezoelectric patch actuators. The wing structure is modeled as a thin-walled beam, and the aerodynamics on the wing are computed by the strip theory. For the implementation of the control algorithm, the piezoelectric patch is bonded on the top surface of the beam to act as the actuator. Ignoring the effect of piezoelectric actuators on structural dynamics, only considering the bending moments induced by piezoelectric effects, the corresponding dynamic motion equation is established by using the Lagrange method with the assumed mode method. The flutter speed and frequency of the closed-loop system with time delay are obtained by solving a polynomial eigenvalue problem. An observer-based controller that does not dependent on time delay is developed for suppressing the flutter, and the corresponding gain matrices are obtained by solving linear matrix inequalities. The sufficient condition for the asymptotic stability of the closed-loop system is derived in terms of linear matrix inequalities. The simulation results demonstrate that the proposed control strategy based on the piezoelectric actuator is effective in wing bending-torsion coupling flutter system with a delayed output.

scholarly journals Design of Switching Multiobjective Controller: A New Approach

2011 ◽  
Vol 2011 ◽  
pp. 1-12
Author(s):  
Ahmad Fakharian
Keyword(s):  
Closed Loop ◽  
Multiplicative Noise ◽  
Loop System ◽  
Switching System ◽  
Closed Loop System ◽  
New Approach ◽  
Output Feedback Controller ◽  
The Stability ◽  
Fuzzy Supervisor ◽  
Globally Stable

Design of switching / output-feedback controller for discrete-time LTI systems with state-multiplicative noise is considered. The closed loop system achieves a minimum bound on the stochastic performance level, while satisfying the performance. The proposed controller is based on a fuzzy supervisor which manages the combination of two separate and controllers. A convex formulation of the two controllers leads to a structure which benefits from the advantages of both controllers to ensure a good performance in both the transient phase ( controller) and the steady phase ( controller). The stability analysis uses the Lyapunov technique, inspired from switching system theory, to prove that the closed loop system with the proposed controller structure remains globally stable despite the configuration changing.

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