Task-Space Bilateral Control of Teleoperators with Time-Varying Delay

Wang, Hanlei

doi:10.1109/cdc40024.2019.9029561

Cited by 5 publications

(7 citation statements)

References 47 publications

(80 reference statements)

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“…In our present study, we have observed a class of mathematical operations concerning differential functions, the application of which has also been witnessed in [34,35,37,33,38], and the most prominent example may be the one involving the introduction of stacked reference dynamics. This class of differential and integral operations is referred to as cascaded calculus (of differential functions along a differential equation), in contrast to the standard calculus that involves functions; in the context of control, we can refer to this class of operations as cascaded calculus along controlled dynamics around the input.…”

Section: Discussionmentioning

confidence: 70%

“…formulated; this approach has been demonstrated to be instrumental as handling time-varying delay (and switching topology) for networked Lagrangian systems or teleoperators [34,35,33]. Differing from the traditional order reduction paradigm [16,1], this differentialcascaded approach is an order invariance or increment one, and the resultant closed-loop dynamics are typically differential-cascaded.…”

Section: Introductionmentioning

confidence: 99%

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Construction of Differential-Cascaded Structures for Control of Robot Manipulators

Wang

2021

Preprint

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This paper focuses on the construction of differential-cascaded structures for control of nonlinear robot manipulators subjected to disturbances and unavailability of partial information of the desired trajectory. The proposed differential-cascaded structures rely on infinite differential series to handle the robustness with respect to time-varying disturbances and the partial knowledge of the desired trajectories for nonlinear robot manipulators. The long-standing problem of reliable adaptation in the presence of sustaining disturbances is solved by the proposed forwardstepping control with forwardstepping adaptation, and stacked reference dynamics yielding adaptive differential-cascaded structures have been proposed to facilitate the forwardstepping adaptation to both the uncertainty of robot dynamics and that of the frequencies of disturbances. A distinctive point of the proposed differential-cascaded approach is that the reference dynamics for design and analysis involve high-order quantities, but via degree-reduction implementation of the reference dynamics, the control typically involves only the low-order quantities, thus facilitating its applications to control of most physical systems. Our result relies on neither the explicit estimation of the disturbances or derivative and second derivative of the desired position nor the solutions to linear/nonlinear regulator equations, and the employed essential element is a differential-cascaded structure governing robot dynamics.

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Section: Discussionmentioning

confidence: 70%

Section: Introductionmentioning

confidence: 99%

Construction of Differential-Cascaded Structures for Control of Robot Manipulators

Wang

2021

Preprint

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“…By substituting M(θ) _ s from (31), dynamic adaptation law _ ϕ d from (25), and actuator adaptation law _ ϕ a from (26) into (33), we have…”

Section: Theorem 1 Consider the Closed-loop System Consisting Of Robmentioning

confidence: 99%

“…(2) e designed parameters φ and α are positive constants, which are also required to satisfy the relations α > 0, φ ≥ 0 and αφ ≤ 1. (3) e designed matrices Γ k and Γ d in (24) and (25) are required to be positive definite symmetric. e designed matrix Γ a is required to be positive definite diagonal.…”

Section: Theorem 1 Consider the Closed-loop System Consisting Of Robmentioning

confidence: 99%

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Inverse Jacobian Adaptive Tracking Control of Robot Manipulators with Kinematic, Dynamic, and Actuator Uncertainties

et al. 2020

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In this paper, we mainly solve the adaptive control problem of robot manipulators with uncertain kinematics, dynamics, and actuators parameters, which has been a long-standing, yet unsolved problem in the robotics field, because of the technical difficulties in handling highly coupled effect between control torque and the mentioned uncertainties. To overcome the difficulties, we propose a new Lyapunov-based adaptive control methodology, which effectively fuses the inverse Jacobian technique and the actuator adaptation law, with which the chattering in tracking errors caused by actuator parameter perturbation is well suppressed. It is demonstrated that the asymptotic convergence of all closed-loop signals is guaranteed. Moreover, the effectiveness of our control scheme is illustrated through simulation studies.

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Optimal chemotherapy counteracts cancer adaptive resistance in a cell-based, spatially-extended, evolutionary model

2022

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Most aggressive cancers are incurable due to their fast evolution of drug resistance. We model cancer growth and adaptive response in a simplified cell-based (CB) setting, assuming a genetic resistance to two chemotherapeutic drugs. We show that optimal administration protocols can steer cells resistance and turned it into a weakness for the disease. Our work extends the population-based (PB) model proposed by Orlando et al. (Physical Biology, 2012), in which a homogeneous population of cancer cells evolves according to a fitness landscape. The landscape models three types of trade-offs, differing on whether the cells are more, less, or equal effective when generalizing resistance to two drugs as opposed to specializing to a single one. The CB framework allows us to include genetic heterogeneity, spatial competition, and drugs diffusion, as well as realistic administration protocols. By calibrating our model on Orlando et al.'s assumptions, we show that dynamical protocols that alternate the two drugs minimize the cancer size at the end of (or at mid-points during) treatment. These results significantly differ from those obtained with the homogeneous model---suggesting static protocols under the pro-generalizing and neutral allocation trade-offs---highlighting the important role of spatial and genetic heterogeneities. Our work is the first attempt to search for optimal treatments in a CB setting, a step forward toward realistic clinical applications.

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Task-Space Bilateral Control of Teleoperators with Time-Varying Delay

Cited by 5 publications

References 47 publications

Construction of Differential-Cascaded Structures for Control of Robot Manipulators

Construction of Differential-Cascaded Structures for Control of Robot Manipulators

Inverse Jacobian Adaptive Tracking Control of Robot Manipulators with Kinematic, Dynamic, and Actuator Uncertainties

Optimal chemotherapy counteracts cancer adaptive resistance in a cell-based, spatially-extended, evolutionary model

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