A transparent bilateral control scheme for a local teleoperation system using proportional-delayed controllers

Abstract

This paper addresses the closed-loop stability analysis problem of a bilateral local teleoperation system in the presence of delays, with the purpose of maintaining a kinematic correspondence between a master and a slave device. The stability analysis is proposed as a general analysis in the controller's parameter-space under the assumption of two fixed delays, considering one due to the signal and communication processing and one defined as a design delay for the controller. Furthermore, a method for measuring the fragility of the controllers is also proposed. Finally, experimental results obtained from an experimental platform consisting of two Phantom Omni haptic devices and the Matlab-Simulink toolkit Phansim illustrate the performance of the proposed approach and the video of the experiments can be downloaded from the authors' dedicated website 1 .

Geometrical design of fractional PDμ controllers for linear time-invariant fractional-order systems with time delay

“… P M and P S are the mechanical admittances of the master and the slave device, respectively: furthermore, a similar notation is used for the controllers C M and C S and the angular positions Θ M and Θ S . This scheme is a variation presented by Hernández-Díez et al 31 of the one used by Liacu et al 27 for haptic-virtual systems. However, instead of using a P − δ controller, a fractional P D μ controller is implemented and compared with a classical PD controller.…”

“…From Hernández-Díez et al, 31 the characteristic equation of the closed-loop system can be written as follows…”

A Current Sensorless Delay–Based Control Scheme for MPPT–Boost Converters in Photovoltaic Systems

“…First, as seen in the experimental results section, to decrease the number of sensors needed for the implementation to only one voltage sensor. Second, as mentioned in [12] and references therein, to reduce the processing effort in the application of such controller in comparison to one of PID type. This is due to the fact that delaying a signal is numerically simpler than derivating it, in which some numerical procedure or algorithm is required.…”

“…It is clear to see, that a solution of the partial differential equation (12) can be easily computed by assuming a solution ϕ satisfying:…”

A Novel Modified Delay-Based Control Algorithm with an Experimental Application

“…Yet another study elaborated the closed-loop stability analysis of voltage buck using proportional-delayed controller [17] that the is also based on the geometric approach, which allows partitioning the parameters space into regions with a constant number of unstable roots. In the work of Diez et al, a transparent bilateral control scheme for a local teleoperation system was realized by using a proportional-delayed controller [19]. Fragility analysis, which is based on computing of the maximum controller parameters deviation without losing the closed-loop stability, was carefully elaborated.…”