Design and Implementation of Robust-Fixed Structure Controller for Telerobotic Systems

PID Control With Higher Order Derivative Degrees for IPDT Plant Models

“…Their design is typically based on the use of simple delayed plant models [1]. In addition to applications in traditional control areas, current research is dominated by network control and telematic applications [2]. When reviewing the recent development in this area, which can be well represented by the papers appeared at the 3rd IFAC conference on PID control, one cannot overlook the explosion of new fractional-order (FO) solutions.…”

“…In this situation, a new integrated filter and controller tuning appeared, which allows to easily deal with filters of arbitrarily chosen order n and to obtain much better results than the traditional derivative filter design. This allowed to go from the filtered PI and PID control [20], to the less common Proportional-Integrative-Derivative-Accelerative (PIDA) [21]- [25], PIDD 2 [26], [27], or PIDD 2 D 3 [28], [29] controllers with HO derivative actions, up to the introduction of a general and at the same time simple notation of PID m n control. In such HO-PID control, the use of the derivative actions up to a general degree m, m = 0, 1, 2, ..., m ≤ n proves to be useful both for reducing excessive control effort, increasing transients speed, smoothness, and increasing performance robustness [26], [30].…”

High‐gain nonlinear observer‐based impedance control for deformable object cooperative teleoperation with nonlinear contact model

“…Plenty of researches concerned about this topic. Alfi and Mohammadi concluded the cases as constant delays, uncertain delays, and delay‐free teleoperation systems . Passivity‐based control, scattering approach, wave variable, sliding model control, linear and nonlinear robust control, and predictive control method are proposed for solving delay‐concerned system stability and related issues.…”

Three-channel control architecture for multilateral teleoperation under time delay

“…It was shown in [6] that there is a trade-off between stability and transparency under time delay. Robust control theory can be used to achieve this trade-off in the presence of time delay [7] but robust control approaches can often result in complex controllers. In [8] and [9], it was shown that using local force feedback and utilizing three instead of four channels (two for position and one for force), it is possible to get high transparency under time delay, but stability is dependent on the environmental and operator impedance parameters and cannot always be guaranteed.…”