Reachable set bounding for linear systems with mixed delays and state constraints

Chen, Ruihan; Guo, Moxuan; Zhu, Song; Qi, Yongqiang; Wang, Min; Hu, Junhao

doi:10.1016/j.amc.2022.127085

Cited by 3 publications

(3 citation statements)

References 29 publications

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“…The bilinearity makes inequality (17) non-convex. Nevertheless, when 𝛿, 𝛽 s , and 𝛽 m are fixed, matrix inequality (17) becomes an LMI, that is, a convex optimisation.…”

Section: Andmentioning

confidence: 99%

“…We can solve the optimisation problem in Theorem 1 using a commercially available LMI toolbox. In addition, we can establish the smallest upper bound by undertaking the following optimisation: (17).…”

Section: Andmentioning

confidence: 99%

“…As such, the notions of state-bounding, reachable set, ultimate bounds etc., also play an important role in the performance analysis and operation prediction of perturbed teleoperated systems [14,15]. These analyses allowed the prediction of regions in which the system states would converge to after taking the external influencing factors into account [16,17]. Nevertheless, most of these studies were focused on linear systems.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Minimal operation region prediction for networked control robotic manipulators subject to time‐varying delays and disturbances

Huynh,

Lim,

Najdovski

et al. 2024

IET Control Theory & Appl

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Due to the disturbances and varying latency, a teleoperated robotic manipulator might not comply with the master control commands. Although prior studies on minimising the impact of network latency and disturbances on teleoperated robots were conducted, there has been very little research on the prediction of minimal operation regions of robotic arms, especially in the worst‐case scenarios when the disturbances and time delays still prevail even after impact minimisation. This study investigates the problem and proposes a novel solution to predicting minimal operation regions of networked control robotic manipulators. The proposed method can be used to forecast safe operation regions in which the manipulators will certainly enter and exclude regions that the robots will never penetrate. Leveraging on a Lyanonov Krasovskii criterion, the method performs region prediction by establishing minimal reachable bounding sets of the nonlinear, perturbed robotic arm's state vectors guided via a time‐varying delay‐dominant network. Though predominantly nonlinear, the entire prediction process is formulated as a tractable Linear Matrix Inequality (LMI) optimisation problem, which can be solved efficiently and effectively. Efficacy of the proposed method is validated with simulations where a simulated robotic arm is distorted with time‐varying delays and disturbances.

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“…The bilinearity makes inequality (17) non-convex. Nevertheless, when 𝛿, 𝛽 s , and 𝛽 m are fixed, matrix inequality (17) becomes an LMI, that is, a convex optimisation.…”

Section: Andmentioning

confidence: 99%

Section: Andmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Minimal operation region prediction for networked control robotic manipulators subject to time‐varying delays and disturbances

Huynh,

Lim,

Najdovski

et al. 2024

IET Control Theory & Appl

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Estimation of reachable set for switched singular systems with time-varying delay and state jump

Feng

Zhang

Lam

et al. 2023

Applied Mathematics and Computation

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Reachable set estimation for neutral semi-Markovian jump systems with time-varying delay

Zhang,

Shen,

2024

MATH

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<abstract><p>This work addresses the issue of finding ellipsoidal bounds of reachable sets for neutral semi-Markovian jump systems with time-varying delay and bounded peak disturbances, for which the related result has been rarely proposed for neutral semi-Markovian jump systems. Based on the modified improved Lyapunov-Krasovskii functional, a boundary of the reachable set for neutral semi-Markovian jump systems was obtained with the aid of utilizing a novel integral inequality and combining with the time-delay segmentation technique. The numerical examples are supplied to verify the effectiveness of the obtained results.</p></abstract>

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Reachable set bounding for linear systems with mixed delays and state constraints

Cited by 3 publications

References 29 publications

Minimal operation region prediction for networked control robotic manipulators subject to time‐varying delays and disturbances

Minimal operation region prediction for networked control robotic manipulators subject to time‐varying delays and disturbances

Estimation of reachable set for switched singular systems with time-varying delay and state jump

Reachable set estimation for neutral semi-Markovian jump systems with time-varying delay

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