scholarly journals A Time Domain Passivity Control Scheme for Bilateral Teleoperation

Electronics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 325 ◽  
Author(s):  
Long Sheng ◽  
Usman Ahmad ◽  
Yongqiang Ye ◽  
Ya-Jun Pan
Keyword(s):  
Time Domain ◽  
Parametric Design ◽  
Switching Time ◽  
Experimental Results ◽  
Division Problem ◽  
Bilateral Teleoperation ◽  
Safe Operation ◽  
Guaranteed Stability ◽  
Control Scheme ◽  
And Control

Conventional time domain passivity control inevitably embodies division. Zero division can occur under a tiny force or velocity, which may be inevitable, and will be the cause of control crash. To avoid the zero division problem and control crash, we propose a switching dissipation controller for guaranteed stability. The parametric design of the proposed approach is discussed. The switching time domain passivity control is then applied to teleoperation and safe operation is achieved. Simulation and experimental results are demonstrated to validate the effectiveness of the proposed control scheme.

A novel multilateral teleoperation scheme with power-based time-domain passivity control

2016 ◽  
Vol 40 (11) ◽  
pp. 3252-3262 ◽  
Author(s):  
Zheng Chen ◽  
Ya-Jun Pan ◽  
Jason Gu ◽  
Shane Forbrigger
Keyword(s):  
Time Domain ◽  
Communication Channel ◽  
Communication Channels ◽  
Bilateral Teleoperation ◽  
Communication Structure ◽  
Remote Operation ◽  
Teleoperation System ◽  
Control Scheme ◽  
Weighting Coefficients ◽  
Teleoperation Systems

Multilateral teleoperation systems, which are extended from the traditional bilateral teleoperation, have become subject to increasing attention in current years, with increasing industrial requirements, such as the remote operation of larger objects and more complex tasks. In this paper, a general multilateral teleoperation control problem is discussed, in which n masters remotely control n slaves through delayed communication channels. A novel communication structure is proposed to satisfy the multiple master–slave communication requirement, in which weighting coefficients are chosen freely to perform the weighted effects of different masters or slaves. Power-based time-domain passivity control is subsequently developed for the complex multiple master–slave communication channel, to achieve the passivity of multilateral teleoperation systems under time delay. Experiments on a teleoperation system with two masters and two slaves are described; the results verify the effectiveness of the proposed control scheme.

scholarly journals Design and Control of a Compliant Parallel Manipulator

2002 ◽  
Vol 124 (4) ◽  
pp. 676-683 ◽  
Author(s):  
Thomas G. Sugar ◽  
Vijay Kumar
Keyword(s):  
Mobile Robot ◽  
Parallel Manipulator ◽  
Parallel Architecture ◽  
Experimental Results ◽  
Control Scheme ◽  
In Series ◽  
And Control ◽  
Cartesian Stiffness ◽  
Novel Design

We describe a novel design for a compliant arm that can be mounted on a mobile robot. Because the arm is compliant, a mobile robot can manipulate or interact with objects that are not precisely positioned in the environment. The main features of the arm are the in-parallel architecture and a novel control scheme that allows us to easily control the Cartesian stiffness or impedance in the plane. Springs are added in series to the limbs of the parallel manipulator. We analyze one limb and the manipulator to determine its performance when either controlling the force applied to an object or controlling its stiffness. Further, we present experimental results that show the performance of the compliant arm.

Active Noise Control in a Y-Shaped Duct: Simulation and Experimental Results

1998 ◽  
Vol 5 (1) ◽  
pp. 17-25
Author(s):  
Ronaldo Fernandes Nunes ◽  
José Roberto De França Arruda ◽  
José Maria Campos Dos Santos
Keyword(s):  
Noise Control ◽  
Reference Signal ◽  
Active Noise Control ◽  
Experimental Results ◽  
Step Size ◽  
Active Noise ◽  
Control Scheme ◽  
Perturbation Source ◽  
The Time Domain ◽  
And Control

There are different approaches to active noise control (ANC). The time domain Filtered-X LMS adaptive control scheme is currently used in most applications. The purpose of this paper is to describe an experiment consisting of a Y-shaped duct with two loudspeakers attached to the two branches of the Y duct. One of the loudspeakers acts as the perturbation source and the other acts as the control source. Tonal noise control is investigated, and control implementation issues such as number of filter weights, value of step-size parameter, and sampling frequency are discussed. The reference signal is taken from the signal sent to the perturbation loudspeaker and the error signal is taken from a microphone that can be placed anywhere along the stem of the Y-shaped duct. Simulations and experimental results are presented. The setup is simple and may be easily implemented for leaching purposes.

Development of a Robot Balanced on a Ball - First Report, Implementation of the Robot and Basic Control -

2010 ◽  
Vol 22 (3) ◽  
pp. 348-355 ◽  
Author(s):  
Masaaki Kumagai ◽  
◽  
Takaya Ochiai ◽  
Keyword(s):  
Inverted Pendulum ◽  
Control Method ◽  
Vertical Axis ◽  
Experimental Results ◽  
Control Input ◽  
First Report ◽  
Control Scheme ◽  
Inertia Parameters ◽  
And Control ◽  
Omnidirectional Wheels

This paper proposes the implementation and control scheme of a robot balanced on a ball. Unlike a twowheeled inverted pendulum, such as the Segway Human Transporter, an inverted pendulum using a ball moves in any direction without changing orientation, enabling isotropic movement and stabilization. The robot on the ball can be used in place of the twowheeled robots. Our robot has three omnidirectional wheels with stepping motors that drive the ball and two sets of rate gyroscopes and accelerometers as attitude sensors. It can keep station, traverse in any direction, and turn around its vertical axis. Inverted pendulum control is applied to two axes to maintain attitude. Ball acceleration is used as control input of the system, unlike most of inverted pendulums which use torque or force as input. This acceleration input makes the robot robust against change of inertia parameters, as confirmed by Nyquist diagrams. The mechanism of the robot, the control method, and the experimental results are described in this paper.

Advanced Fault Isolation Technique Using Electro-Optical Terahertz Pulse Reflectometry (EOTPR) for 2D and 2.5D Flip-Chip Package

2012 ◽  
Author(s):  
Lihong Cao ◽  
Manasa Venkata ◽  
Meng Yeow Tay ◽  
Wen Qiu ◽  
J. Alton ◽  
...  
Keyword(s):  
Time Domain ◽  
Flip Chip ◽  
Time Domain Reflectometry ◽  
Fault Isolation ◽  
Experimental Results ◽  
Terahertz Pulse ◽  
Isolation And Identification ◽  
Isolation Technique ◽  
Non Destructive

Abstract Electro-optical terahertz pulse reflectometry (EOTPR) was introduced last year to isolate faults in advanced IC packages. The EOTPR system provides 10μm accuracy that can be used to non-destructively localize a package-level failure. In this paper, an EOTPR system is used for non-destructive fault isolation and identification for both 2D and 2.5D with TSV structure of flip-chip packages. The experimental results demonstrate higher accuracy of the EOTPR system in determining the distance to defect compared to the traditional time-domain reflectometry (TDR) systems.

An optimal task management and control scheme for military operations with dynamic game strategy

2021 ◽  
pp. 106815
Author(s):  
Tao Zhang ◽  
Chengchao Li ◽  
Dongying Ma ◽  
Xiaodong Wang ◽  
Chaoyong Li
Keyword(s):  
Dynamic Game ◽  
Task Management ◽  
Military Operations ◽  
Control Scheme ◽  
And Control

Model development and control of an auto-refrigerated polystyrene polymerization reactor

2021 ◽  
pp. 014233122110251
Author(s):  
Reyhane Mokhtarname ◽  
Ali Akbar Safavi ◽  
Leonhard Urbas ◽  
Fabienne Salimi ◽  
Mohammad M Zerafat ◽  
...  
Keyword(s):  
Temperature Control ◽  
Model Development ◽  
Heat Removal ◽  
Superior Performance ◽  
Polymerization Process ◽  
Vacuum System ◽  
Control Scheme ◽  
Simulation Results ◽  
And Control ◽  
Operating Plant

Dynamic model development and control of an existing operating industrial continuous bulk free radical styrene polymerization process are carried out to evaluate the performance of auto-refrigerated CSTRs (continuous stirred tank reactors). One of the most difficult tasks in polymerization processes is to control the high viscosity reactor contents and heat removal. In this study, temperature control of an auto-refrigerated CSTR is carried out using an alternative control scheme which makes use of a vacuum system connected to the condenser and has not been addressed in the literature (i.e. to the best of our knowledge). The developed model is then verified using some experimental data of the real operating plant. To show the heat removal potential of this control scheme, a common control strategy used in some previous studies is also simulated. Simulation results show a faster dynamics and superior performance of the first control scheme which is already implemented in our operating plant. Besides, a nonlinear model predictive control (NMPC) is developed for the polymerization process under study to provide a better temperature control while satisfying the input/output and the heat exchanger capacity constraints on the heat removal. Then, a comparison has been also made with the conventional proportional-integral (PI) controller utilizing some common tuning rules. Some robustness and stability analyses of the control schemes investigated are also provided through some simulations. Simulation results clearly show the superiority of the NMPC strategy from all aspects.

scholarly journals Super-Twisting Algorithm Applied to Velocity Control of DC Motor without Mechanical Sensors Dependence

Energies ◽  
2020 ◽  
Vol 13 (22) ◽  
pp. 6041
Author(s):  
Fredy A. Valenzuela ◽  
Reymundo Ramírez ◽  
Fermín Martínez ◽  
Onofre A. Morfín ◽  
Carlos E. Castañeda
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Dc Motor ◽  
Experimental Results ◽  
Resistive Load ◽  
Velocity Control ◽  
Velocity Sensor ◽  
Control Scheme ◽  
Mechanical Sensors ◽  
Twisting Algorithm

A DC motor velocity control in feedback systems usually requires a velocity sensor, which increases the controller cost. Additionally, the velocity sensor used in industrial applications presents several disadvantages such as maintenance requirements and signal conditioning. In this work, we propose a robust velocity control scheme applied to a DC motor based on estimation strategies using a sliding-mode observer. This means that measurements with mechanical sensors are not required in the controller design. The proposed observer estimates the rotational velocity and load torque of the motor. The controller design applies the exact-linearization technique combined with the super-twisting algorithm to achieve robust performance in the closed-loop system. The controller validation was carried out by experimental tests using a workbench, which is composed of a control and data acquisition Digital Signal Proccessor board, a DC-DC electronic converter, an interface board for signals conditioning, and a DC electric generator connected to an adjustable resistive load. The simulation and experimental results show a significant performance of the proposed control scheme. During tests, the accuracy, robustness, and speed response on the controller were evaluated and the experimental results were compared with a classic proportional-integral controller, which uses a conventional encoder.

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