A design method of wave filter for stabilizing non-passive operating system

Miyoshi, Takanori; Terasima, Kazuhiko; Buss, Martin

doi:10.1109/cacsd-cca-isic.2006.4776833

Cited by 26 publications

(16 citation statements)

References 13 publications

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“…The result is the same as in [4], however, the advantage of this approach is that the gain can be used to compensate the non-passivity of the master and slave sites [3].…”

Section: Dt(s) = Y T (S)/u T (S) With Y T (T) = U T (T-t(t))mentioning

confidence: 98%

See 1 more Smart Citation

Online Calculation of Time Varying Gain to Stabilize the Bilateral Teleoperation System

Đức¹,

Thinh²

2016

Tuyển Tập Công Trình HNKH Toàn Quốc Lần Thứ 3 Về Điều Khiển &Amp; Tự Động Hoá VCCA - 2015

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Tóm tắtCác hệ thống vận hành song phương có nhiều ưu điểm và được ứng dụng rộng rãi trong nhiều lĩnh vực như sản xuất lắp ráp từ xa, bảo dưỡng từ xa, phẫu thuật từ xa, cứu hộ, v.v.... Tuy nhiên khi hệ thống vận hành song phương được thực hiện thông qua môi trường truyền thông có trễ, đặc biệt là với trễ biến thiên, các trễ truyền thông này làm cho hệ thống trở nên bất ổn định. Bài báo này sẽ đưa ra điều kiện ổn định hệ thống vận hành song phương dựa trên định lý hệ số khuếch đại nhỏ. Và sau đó, dựa vào điều kiện ổn định đã đưa ra, một phương pháp tính toán trực tuyến hệ số bù thời gian trễ thay đổi được đề xuất để ổn định hệ thống vận hành song phương sử dụng ma trận phát tán (scattering matrix). Các mô phỏng được thực hiện để chứng thực tính hiệu quả của tính toán được đề xuất. Từ khóa: vận hành từ xa song phương, định lý hệ số nhỏ, ma trận phát tán Abstract: Bilateral teleoperation has a wide field of applications such as tele-manufacturing, telemaintenance, tele-sugery, rescue and so on. However, when teleoperation is performed via a time delay communication environment, especially time varying delay, this delay can destabilize a bilaterally controlled teleoperation. In this paper, the stability condition based on small gain theorem for time varying delay teleoperation is presented. Based on the stability condition, the online calculation of time varying gain is proposed for general teleoperation using scattering matrix. Simulation was done to verify the effectiveness of the proposed calculation.

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“…The result is the same as in [4], however, the advantage of this approach is that the gain can be used to compensate the non-passivity of the master and slave sites [3].…”

Section: Dt(s) = Y T (S)/u T (S) With Y T (T) = U T (T-t(t))mentioning

confidence: 98%

“…al. proposed a design method utilizing wave filters to stabilize a non-passive operating system [3]. In this method, the scattering matrix is used, but it is considered with regard to its frequency characteristics rather than passivity concepts.…”

Section: Introductionmentioning

confidence: 99%

Online Calculation of Time Varying Gain to Stabilize the Bilateral Teleoperation System

Đức¹,

Thinh²

2016

Tuyển Tập Công Trình HNKH Toàn Quốc Lần Thứ 3 Về Điều Khiển &Amp; Tự Động Hoá VCCA - 2015

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“…Polynomial (15) is selected such as to keep the number of tuning parameters small. We assume that the dynamics of the master and slave manipulators described by (9) and (10) are known and given bỹ…”

Section: B Controller Designmentioning

confidence: 99%

“…Scattering (or wave variables) is another common technique which aims to passify the communication channel. In [9], Miyoshi et. al.…”

Section: Introductionmentioning

confidence: 99%

Time Delay Compensation in Bilateral Teleoperations Using IMPACT

Denasi

Kostic

Nijmeijer

2013

IEEE Trans. Contr. Syst. Technol.

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Abstract-Teleoperated systems may be subject to destabilizing and performance degrading effects due to time-delays. An appealing remedy is an application of the Internal Model Principle And Control Together (IMPACT) structure as it is done in this paper in the problem of position error based bilateral teleoperation. The IMPACT algorithm proposed in this paper allows time-delay compensation and rejection of disturbances from a known class that act at the output of the slave manipulator. Simulation and experimental results illustrate the effectiveness of the algorithm.

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“…Therefore, several of the former research trends have been adapted to the new challenges. Passive wavescattering (WS) transformation, which was first introduced by Anderson and Spong [9], has been complemented to compensate for time-varying delays, data losses, and discrete communication mediums [16]- [20]. Likewise, other techniques based on H ∞ -optimal control [11], share-compliant control [13], predictive control [21], proportional-derivative (PD) control [22], passive set-position modulation [23], [24], and event-based control [25] have been proposed.…”

mentioning

confidence: 99%

Experimental Comparison Study of Control Architectures for Bilateral Teleoperators

Rodriguez-Seda

Lee

Spong³

2009

IEEE Trans. Robot.

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Abstract-A detailed experimental comparison study of several published algorithms for motion and force control of bilateral teleoperators, with emphasis on Internet-based teleoperation, is presented. The study investigates the effects of data losses, communication delays, and environmental constraints on a teleoperation system for different control techniques, which are based on wave variables, Smith predictors, and recent algorithms on synchronization. The controllers are compared on stability, transparency, and complexity using two identical nonlinear robots coupled via a stochastic network model that allowed transmission round-trip delays and data-loss rates to range from 8 to 1088 ms and 0% to 50%, respectively. A total of 18 subjects, which were distributed among 26 experiments with the aims of regulating the effects of the operators learning process and dynamic properties, participated in this study. Overall, the comparison study reports a deteriorating effect in the performance (i.e., larger position errors and lower fidelity of contact information) from delays and data losses. Yet, the effect of data losses is less critical when compared with time delays. In addition, the preference for a particular control framework is shown to strongly depend on the operational conditions of the system, such as the characteristics of the coupling channel, the specifics of the remote task, and the computational capabilities of the manipulators.

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A design method of wave filter for stabilizing non-passive operating system

Cited by 26 publications

References 13 publications

Online Calculation of Time Varying Gain to Stabilize the Bilateral Teleoperation System

Online Calculation of Time Varying Gain to Stabilize the Bilateral Teleoperation System

Time Delay Compensation in Bilateral Teleoperations Using IMPACT

Experimental Comparison Study of Control Architectures for Bilateral Teleoperators

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