Robust Switching Control for Force-reflecting Telerobotic with Time-varying Communication Delays

Nian, Fudong; Shen, Shaobo; Zhang, Chunpeng; Lv, Gang

doi:10.1109/ccdc49329.2020.9164407

Cited by 2 publications

(3 citation statements)

References 15 publications

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“…From Equation (30), the normalized parameters of the PD µ controller are expressed as a function of the normalized specifications φ mn and ω cn by:…”

Section: Fractional Order Pd µ Controllermentioning

confidence: 99%

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Fractional Control of a Class of Underdamped Fractional Systems with Time Delay—Application to a Teleoperated Robot with a Flexible Link

Gharab,

Feliu Batlle

2023

Fractal Fract

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This work addresses the robust control of processes of the form G(s)=K·e−τ·s/(1+T·sλ) with 1<λ≤2. A new method for tuning fractional-order PI and PD controllers is developed. The stability is assessed based on the frequency domain tuning of the regulators to control such delayed fractional-order underdamped processes. In order to analyze the closed-loop stability and robustness, the new concept of Robust High-Frequency Condition is introduced. The analysis based on that demonstrates that each controller has a different region of feasible frequency specifications, and, in all cases, they depend on their fractional integral or derivative actions. Finally, an application example, the position control of a teleoperated manipulator with a flexible link, is presented. Simulations and experiments illustrate that the region of feasible frequency specifications defined at low and high frequencies allows us to obtain robust controllers that fulfill frequency requirements.

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“…From Equation (30), the normalized parameters of the PD µ controller are expressed as a function of the normalized specifications φ mn and ω cn by:…”

Section: Fractional Order Pd µ Controllermentioning

confidence: 99%

“…Over the years, numerous prominent researchers have addressed this issue by proposing various control solutions. These include integer and fractional-order PID control [23], model predictive control [24], Smith predictor [25,26], communication disturbance observer [27,28], sliding mode control [29], and switching control [30].…”

Section: Introductionmentioning

confidence: 99%

Fractional Control of a Class of Underdamped Fractional Systems with Time Delay—Application to a Teleoperated Robot with a Flexible Link

Gharab,

Feliu Batlle

2023

Fractal Fract

View full text Add to dashboard Cite

show abstract

“…Over the years, the most eminent researchers tackled this problem through several control solutions, for example, integer and fractional order PID control [6], model predictive control [7], Smith predictor [5,8,9], communication disturbance observer [10,11], sliding mode control [12], and switching control [13].…”

Section: Introductionmentioning

confidence: 99%

Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method

et al. 2021

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This paper proposes a method for active vibration control to a two-link flexible robot arm in the presence of time delay, by means of robust pole placement. The issue is of practical and theoretical interest as time delay in vibration control can cause instability if not properly taken into account in the controller design. The controller design is performed through the receptance method to exactly assign a pair of pole and to achieve a given stability margin for ensuring robustness to uncertainty. The desired stability margin is achieved by solving an optimization problem based on the Nyquist stability criterion. The method is applied on a laboratory testbed that mimic a typical flexible robotic system employed for pick-and-place applications. The linearization assumption about an equilibrium configuration leads to the identification of the local receptances, holding for infinitesimal displacements about it, and hence applying the proposed control design technique. Nonlinear terms, due to the finite displacements, uncertainty, disturbances, and the coarse encoder quantization, are effectively handled by embedding the robustness requirement into the design. The experimental results, and the consistence with the numerical expectations, demonstrate the method effectiveness and ease of application.

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Robust Switching Control for Force-reflecting Telerobotic with Time-varying Communication Delays

Cited by 2 publications

References 15 publications

Fractional Control of a Class of Underdamped Fractional Systems with Time Delay—Application to a Teleoperated Robot with a Flexible Link

Fractional Control of a Class of Underdamped Fractional Systems with Time Delay—Application to a Teleoperated Robot with a Flexible Link

Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method

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