scholarly journals Delayed Trilateral Teleoperation of a Mobile Robot

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
D. Santiago ◽  
E. Slawiñski ◽  
V. Mut
Keyword(s):  
Stability Analysis ◽  
Mobile Robot ◽  
Shared Environment ◽  
Time Varying ◽  
Control Parameters ◽  
Simple Test ◽  
Control Loop ◽  
Teleoperation System ◽  
Human Operators ◽  
The Stability

This paper analyzes the stability of a trilateral teleoperation system of a mobile robot. This type of system is nonlinear, time-varying, and delayed and includes a master-slave kinematic dissimilarity. To close the control loop, three P+d controllers are used under a position master/slave velocity strategy. The stability analysis is based on Lyapunov-Krasovskii theory where a functional is proposed and analyzed to get conditions for the control parameters that assure a stable behavior, keeping the synchronism errors bounded. Finally, the theoretical result is verified in practice by means of a simple test, where two human operators both collaboratively and simultaneously drive a 3D simulator of a mobile robot to achieve an established task on a remote shared environment.

PD-like controller with impedance for delayed bilateral teleoperation of mobile robots

Robotica ◽  
2015 ◽  
Vol 34 (9) ◽  
pp. 2151-2161 ◽  
Author(s):  
E. Slawiñski ◽  
S. García ◽  
L. Salinas ◽  
V. Mut
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Force Feedback ◽  
Robot Motion ◽  
Time Varying ◽  
Control Parameters ◽  
Bilateral Teleoperation ◽  
Teleoperation System ◽  
Control Scheme ◽  
The Stability

SUMMARYThis paper proposes a control scheme applied to the delayed bilateral teleoperation of mobile robots with force feedback in face of asymmetric and time-varying delays. The scheme is managed by a velocity PD-like control plus impedance and a force feedback based on damping and synchronization error. A fictitious force, depending on the robot motion and its environment, is used to avoid possible collisions. In addition, the stability of the system is analyzed from which simple conditions for the control parameters are established in order to assure stability. Finally, the performance of the delayed teleoperation system is shown through experiments where a human operator drives a mobile robot.

scholarly journals Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric

2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
Franco Penizzotto ◽  
Sebastian García ◽  
Emanuel Slawiñski ◽  
Vicente Mut
Keyword(s):  
Mobile Robot ◽  
System Architecture ◽  
Communication Channel ◽  
Force Feedback ◽  
Time Varying ◽  
Bilateral Teleoperation ◽  
Wheeled Robots ◽  
Teleoperation System ◽  
Control Scheme ◽  
The Stability

This paper proposes a control scheme applied to the delayed bilateral teleoperation of wheeled robots with force feedback, considering the performance of the operator’s command execution. In addition, the stability of the system is analyzed taking into account the dynamic model of the master as well as the remote mobile robot under asymmetric and time-varying delays of the communication channel. Besides, the performance of the teleoperation system, where a human operator drives a 3D simulator of a wheeled dynamic robot, is evaluated. In addition, we present an experiment where a robot Pioneer is teleoperated, based on the system architecture proposed.

A new control approach for a class of linear switched systems with time-varying delay

2021 ◽  
pp. 014233122199272
Author(s):  
Abbas Zabihi Zonouz ◽  
Mohammad Ali Badamchizadeh ◽  
Amir Rikhtehgar Ghiasi
Keyword(s):  
Stability Analysis ◽  
Linear Matrix Inequalities ◽  
Linear Matrix ◽  
Switching Systems ◽  
Time Varying ◽  
Matrix Inequalities ◽  
Time Varying Delay ◽  
Linear Switching Systems ◽  
The Stability ◽  
Varying Delay

In this paper, a new method for designing controller for linear switching systems with varying delay is presented concerning the Hurwitz-Convex combination. For stability analysis the Lyapunov-Krasovskii function is used. The stability analysis results are given based on the linear matrix inequalities (LMIs), and it is possible to obtain upper delay bound that guarantees the stability of system by solving the linear matrix inequalities. Compared with the other methods, the proposed controller can be used to get a less conservative criterion and ensures the stability of linear switching systems with time-varying delay in which delay has way larger upper bound in comparison with the delay bounds that are considered in other methods. Numerical examples are given to demonstrate the effectiveness of proposed method.

scholarly journals A stable proportional–proportional integral tracking controller with self-organizing fuzzy-tuned gains for parallel robots

2019 ◽  
Vol 16 (1) ◽  
pp. 172988141881995
Author(s):  
Francisco G Salas ◽  
Jorge Orrante-Sakanassi ◽  
Raymundo Juarez-del-Toro ◽  
Ricardo P Parada
Keyword(s):  
Stability Analysis ◽  
Performance Index ◽  
Closed Loop ◽  
Tracking Error ◽  
Parallel Robots ◽  
Control Loop ◽  
Closed Loop System ◽  
Proportional Integral ◽  
The Stability ◽  
Self Organizing

Parallel robots are nowadays used in many high-precision tasks. The dynamics of parallel robots is naturally more complex than the dynamics of serial robots, due to their kinematic structure composed by closed chains. In addition, their current high-precision applications demand the innovation of more effective and robust motion controllers. This has motivated researchers to propose novel and more robust controllers that can perform the motion control tasks of these manipulators. In this article, a two-loop proportional–proportional integral controller for trajectory tracking control of parallel robots is proposed. In the proposed scheme, the gains of the proportional integral control loop are constant, while the gains of the proportional control loop are online tuned by a novel self-organizing fuzzy algorithm. This algorithm generates a performance index of the overall controller based on the past and the current tracking error. Such a performance index is then used to modify some parameters of fuzzy membership functions, which are part of a fuzzy inference engine. This fuzzy engine receives, in turn, the tracking error as input and produces an increment (positive or negative) to the current gain. The stability analysis of the closed-loop system of the proposed controller applied to the model of a parallel manipulator is carried on, which results in the uniform ultimate boundedness of the solutions of the closed-loop system. Moreover, the stability analysis developed for proportional–proportional integral variable gains schemes is valid not only when using a self-organizing fuzzy algorithm for gain-tuning but also with other gain-tuning algorithms, only providing that the produced gains meet the criterion for boundedness of the solutions. Furthermore, the superior performance of the proposed controller is validated by numerical simulations of its application to the model of a planar three-degree-of-freedom parallel robot. The results of numerical simulations of a proportional integral derivative controller and a fuzzy-tuned proportional derivative controller applied to the model of the robot are also obtained for comparison purposes.

scholarly journals On the Issue of Radiation-Induced Instability in Binary Solid Solutions

2014 ◽  
Vol 2014 ◽  
pp. 1-5
Author(s):  
Santosh Dubey ◽  
S. K. Joshi ◽  
B. S. Tewari
Keyword(s):  
Solid Solution ◽  
Stability Analysis ◽  
Reaction Diffusion ◽  
Reaction Diffusion Equations ◽  
Diffusion Equations ◽  
Control Parameters ◽  
Binary Solid Solution ◽  
Nonlinear Reaction ◽  
Radiation Induced ◽  
The Stability

The stability of a binary solid solution under irradiation has been studied. This has been done by performing linear stability analysis of a set of nonlinear reaction-diffusion equations under uniform irradiation. Owing to the complexity of the resulting system of eigenvalue equations, a numerical solution has been attempted to calculate the dispersion relations. The set of reaction-diffusion equations represent the coupled dynamics of vacancies, dumbbell-type interstitials, and lattice atoms. For a miscible system (Cu-Au) under uniform irradiation, the initiation and growth of the instability have been studied as a function of various control parameters.

Partial stability analysis of nonlinear time-varying impulsive systems

2019 ◽  
Vol 12 (06) ◽  
pp. 1950066
Author(s):  
Boulbaba Ghanmi
Keyword(s):  
Stability Analysis ◽  
Lyapunov Functions ◽  
Time Varying ◽  
Impulsive Systems ◽  
Partial Stability ◽  
Stability Theorems ◽  
Time Varying Systems ◽  
The Stability ◽  
Derivatives Of ◽  
Theoretical Results

This paper investigates the stability analysis with respect to part of the variables of nonlinear time-varying systems with impulse effect. The approach presented is based on the specially introduced piecewise continuous Lyapunov functions. The Lyapunov stability theorems with respect to part of the variables are generalized in the sense that the time derivatives of the Lyapunov functions are allowed to be indefinite. With the help of the notion of stable functions, asymptotic partial stability, exponential partial stability, input-to-state partial stability (ISPS) and integral input-to-state partial stability (iISPS) are considered. Three numerical examples are provided to illustrate the effectiveness of the proposed theoretical results.

scholarly journals Flutter of Long Flexible Cylinders in Axial Flow

2006 ◽  
Author(s):  
E. de Langre ◽  
M. P. Paidoussis ◽  
Y. Modarres-Sadeghi ◽  
O. Doare´
Keyword(s):  
Stability Analysis ◽  
Axial Flow ◽  
Equation Of Motion ◽  
External Flow ◽  
Transverse Motion ◽  
Control Parameters ◽  
Limit Case ◽  
Finite Region ◽  
Flexible Cylinder ◽  
The Stability

We consider the stability of a thin flexible cylinder considered as a beam, when subjected to axial flow and fixed at the up-stream end only. A linear stability analysis of transverse motion aims at determining the risk of flutter as a function of the governing control parameters such as the flow velocity or the length of the cylinder. Stability is analysed applying a finite difference scheme in space to the equation of motion expressed in the frequency domain. It is found that, contrary to previous predictions based on simplified theories, flutter may exist for very long cylinders, provided that the free downstream end of the cylinder is well-streamlined. More generally, a limit regime is found where the length of the cylinder does not affect the characteristics of the instability, and the deformation is confined to a finite region close to the downstream end. These results are found complementary to solutions derived for shorter cylinders and are confirmed by linear computations using a Galerkin method. A link is established to similar results on long hanging cantilevered systems with internal or external flow. The limit case of vanishing bending stiffness, where the cylinder is modelled as a string, is analysed and related to previous results. A simple model for the behaviour of long cylinders is proposed.

Fuzzy Control for Nonlinear Uncertain T-S Fuzzy Systems with Time-Varying Delays

2013 ◽  
Vol 341-342 ◽  
pp. 668-673
Author(s):  
Yi Min Li ◽  
Yuan Yuan Li
Keyword(s):  
Stability Analysis ◽  
Discrete Time ◽  
Fuzzy Model ◽  
Optimization Techniques ◽  
Linear Matrix ◽  
Time Varying ◽  
Parameter Uncertainties ◽  
Lmi Optimization ◽  
System A ◽  
The Stability

This paper studies the stability analysis of discrete time-varying system with parameter uncertainties and disturbances. The system under consideration is subject to time-varying non-bounded parameter uncertainties in both the state and measured output matrices. To facilitate the stability analysis, the T-S fuzzy model is employed to represent the discrete-time nonlinear system. A fuzzy observer is used to guarantee the Lyapunov stability of the closed-loop system and reduces the effect of the disturbance input on the controlled output to a prescribed level for all admissible uncertainties. The control and observer matrices can be obtained by directly solving a set of linear matrix inequality (LMI) via the existing LMI optimization techniques. Finally, an example is provided to demonstrate the effectiveness of the proposed approach.

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