Switching supervisory control based on controller falsification and closed-loop performance inference

Mosca, E.; Agnoloni, Tommaso

doi:10.1016/s0959-1524(01)00012-9

Cited by 19 publications

(9 citation statements)

References 13 publications

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“…However, usually it is greater than that. The distortion caused by jitter introduces high frequency noise and possible destabilization in the system [18]. By employing reconstruction filters [19] the destabilizing effect of jitter can resolved [25][26][27].…”

Section: Jittermentioning

confidence: 99%

“…Here also abrupt and significant changes in delay dynamics are evident. However several works proposed for making the teleoperation system robust against timedelay variations [14][15][16][17][18][19][20][21], non of these techniques are able to cover these abrupt significant variations.…”

Section: Experimental Determination Of Time Delay: Delay Dynamics In mentioning

confidence: 99%

“…These variations may be due to the failure of the component, disturbances, change in subsystem interconnections, environment changes and repairs [18][19][20][21]. When a single identification model is used, it will have to adapt itself to the operating condition before appropriate controls can be taken.…”

Section: The Wave-variable Based Multi-model Adaptive Control System mentioning

confidence: 99%

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Real-Time Internet-Based Teleoperation

Kamrani¹

2012

ICA

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Internet-based teleoperation employs robots and internet a two breakthrough technologies to manipulate robots from distance for different applications. Variable and unknown time delay dynamics of internet is the main obstacle for realtime teleoperation via internet. In this paper the internet delay dynamics and its characteristics have been studied based on the measurement in different nodes. Then a black-box model for end-to-end internet delay dynamics has been developed using system identification and Auto-Regressive eXogeneous (ARX) model. Our experimental studies show a regular periodic behaviour in long-term intervals of internet delay variation and also confirm the accuracy and reliability of our theoretical and modelling derivations. This paper also introduces a novel multivariable control method for real-time telerobotic operations via Internet. Random communications delay of the Internet can cause instability in realtime closed-loop telerobotic systems. When a single identification model is used, it will have to adapt itself to the operating condition before an appropriate control mechanism can be applied. Slow adaptation may result in a large transient error. As an alternative, we propose to use a Multiple Model framework. The control strategy is to determine the best model for the current operating condition and activate the corresponding controller. We propose the use of Multi-Model Adaptive Control Theory and Multivariable Wave prediction method to capture the concurrency and complexity of Internet-based teleoperation. The results confirm the efficiency of the proposed technique in dealing with constant and variable delay dynamics of internet.

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Section: Jittermentioning

confidence: 99%

Section: Experimental Determination Of Time Delay: Delay Dynamics In mentioning

confidence: 99%

Section: The Wave-variable Based Multi-model Adaptive Control System mentioning

confidence: 99%

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Real-Time Internet-Based Teleoperation

Kamrani¹

2012

ICA

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“…One widely used idea in supervisory switching control is the so-called "controller falsification" (see e.g. [2,22]), which has also been systematically investigated by several researchers including Anderson, Hespanha, Morse and Safonov [1,14,23,24,26]. This approach makes it relatively easy to establish theoretical stability results under weak conditions; however, existing work seldom addressed the disadvantages of this approach, which will be discussed in this paper by a simple algorithm based on the idea of controller falsification.…”

Section: Existing Related Workmentioning

confidence: 99%

Several algorithms for finite-model adaptive control

2008

Math. Control Signals Syst.

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Finite-model adaptive control problem is studied for a class of discretetime nonlinear uncertain systems. This problem was motivated by recent efforts on the capability and limitation of feedback mechanism and has the characteristics of "essentially" finite internal uncertainties. To solve this type of problem, based on different ideas, we introduce several approaches, controller falsification, controller combination, and pseudo-parameter estimation, to design the feedback control law and rigorously establish the stability of closed-loop system for several typical algorithms in these approaches. Our results show that, under reasonably weak conditions, capable feedback control laws exist dealing with the finite internal uncertainties of the system. These results together with related results in companion papers provide partial answers to the finite-model adaptive control problem and may lead to deeper understanding on the capability of the whole feedback mechanism.

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“…Controller falsiÿcation (Safonov & Tsao, 1997;Mosca & Agnoloni, 2001;Angeli & Mosca, 2001;Mosca & Agnoloni, 2002;Zhivoglyadov et al, 2001) deals with the problem of ÿnding criteria according to which the supervisor decides whether the acting controller is adequate or not. This is a binary decision problem: if the controller is falsiÿed, the supervisor replaces the formerly acting controller with a di erent one selected amongst the available collection of candidate controllers.…”

Section: Introductionmentioning

confidence: 99%