The impact of control research on industrial innovation: What would it take to make it happen?

Mastellone, Silvia; Delft, Alex van

doi:10.1016/j.conengprac.2021.104737

Cited by 10 publications

(8 citation statements)

References 4 publications

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“…In modern control systems engineering, modularity is considered as a key aspect to address the ever-growing complexity of target applications [25]. To design the intended high-precision teleoperation for complex asymmetric system, the study takes advantage of a novel virtual decomposition control (VDC) approach (see [26], [27]).…”

Section: B Concept Of the Virtual Decomposition Controlmentioning

confidence: 99%

“…where τ m is the master robot control input defined in (25), and τ mm is the estimated master robot dynamics, defined as…”

Section: E Force Estimationmentioning

confidence: 99%

“…The force estimate in the control law in (25) results in an algebraic loop that has to be addressed to ensure stability of the control system. This section defines required conditions to ensure stability of the algebraic loop.…”

Section: F Algebraic Loop and Computation Algorithmsmentioning

confidence: 99%

“…V. TELEOPERATION After individual velocity-based controllers for both master and slave manipulators (see (25) and [6]) of the teleoperation system have been designed, a scheme for connecting the manipulators can be designed. Connection between the two manipulators is made with a communication channel that virtually connects the manipulators together.…”

Section: Stabilitymentioning

confidence: 99%

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Force-Sensor-Less Bilateral Teleoperation Control of Dissimilar Master–Slave System With Arbitrary Scaling

Lampinen

Koivumäki

Zhu

et al. 2022

IEEE Trans. Contr. Syst. Technol.

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This study designs a high-precision bilateral teleoperation control for a dissimilar master-slave system. The proposed nonlinear control design takes advantage of a novel subsystem-dynamics-based control method that allows designing of individual (decentralized) model-based controllers for the manipulators locally at the subsystem level. Very importantly, a dynamic model of the human operator is incorporated into the control of the master manipulator. The individual controllers for the dissimilar master and slave manipulators are connected in a specific communication channel for the bilateral teleoperation to function. Stability of the overall control design is rigorously guaranteed with arbitrary time delays. Novel features of this study include the completely force-sensor-less design for the teleoperation system with a solution for a uniquely introduced computational algebraic loop, a method of estimating the exogenous operating force of an operator and the use of a commercial haptic manipulator. Most importantly, we conduct experiments on a dissimilar system in two degrees of freedom (DOFs). As an illustration of the performance of the proposed system, a force scaling factor of up to 800 and position scaling factor of up to 4 was used in the experiments. The experimental results show an exceptional tracking performance, verifying the real-world performance of the proposed concept.

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Section: B Concept Of the Virtual Decomposition Controlmentioning

confidence: 99%

“…where τ m is the master robot control input defined in (25), and τ mm is the estimated master robot dynamics, defined as…”

Section: E Force Estimationmentioning

confidence: 99%

Section: F Algebraic Loop and Computation Algorithmsmentioning

confidence: 99%

Section: Stabilitymentioning

confidence: 99%

See 2 more Smart Citations

Force-Sensor-Less Bilateral Teleoperation Control of Dissimilar Master–Slave System With Arbitrary Scaling

Lampinen

Koivumäki

Zhu

et al. 2022

IEEE Trans. Contr. Syst. Technol.

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show abstract

“…The proposed method originates from virtual decomposition control (VDC) [3], [12] that is developed for controlling complex robotic systems. Modularity is one of the key aspects in addressing complexity in advanced control realizations [13], [14,Sec. IV].…”

Section: Introductionmentioning

confidence: 99%

Subsystem-Based Control with Modularity for Strict-Feedback Form Nonlinear Systems

Koivumäki¹,

Humaloja²,

Paunonen³

et al. 2021

Preprint

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This study proposes an adaptive subsystem-based control (SBC) for systematic and straightforward nonlinear control of nth-order strict-feedback form (SFF) systems. By decomposing the SFF system to subsystems, a generic term (namely stability connector) can be created to address dynamic interactions between the subsystems. This 1) enables modular control design with global asymptotic stability, 2) such that both the control design and the stability analysis can be performed locally at a subsystem level, 3) while avoiding an excessive growth of the control design complexity when the system order n increases. The latter property makes the method suitable especially for high-dimensional systems. We also design a smooth projection function for addressing system parametric uncertainties. Numerical simulations demonstrate the efficiency of the method.

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Introduction

Mastellone,

van Delft

2023

The Impact of Automatic Control Research on Industrial Innovation

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The impact of control research on industrial innovation: What would it take to make it happen?

Cited by 10 publications

References 4 publications

Force-Sensor-Less Bilateral Teleoperation Control of Dissimilar Master–Slave System With Arbitrary Scaling

Force-Sensor-Less Bilateral Teleoperation Control of Dissimilar Master–Slave System With Arbitrary Scaling

Subsystem-Based Control with Modularity for Strict-Feedback Form Nonlinear Systems

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