Finite‐time convergence for bilateral teleoperation systems with disturbance and time‐varying delays

Nam, Đào Phương; Nguyen, Van Tinh; Liu, Yen‐Chen

doi:10.1049/cth2.12155

Cited by 22 publications

(7 citation statements)

References 41 publications

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“…Remark 7. In Reference [40], the finite-time convergence for bilateral teleoperation systems with disturbance and time-varying delays was studied, in which the settling time is associated with the initial value of the system. In this research, we consider the fixed-time distributed optimization problem for the multi-agent system with disturbances and invariant input delays.…”

Section: Proof Let the Estimator Error ŷImentioning

confidence: 99%

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Fixed-Time Distributed Optimization for Multi-Agent Systems with Input Delays and External Disturbances

Jiang

2022

Mathematics

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This study concentrates on a fixed-time distributed optimization problem for multi-agent systems (MASs) with input delay and external disturbances. First, by adopting the Artstein model reduction technique, the time-delay system is first transformed into a delay-free one, and external disturbances are then effectively eliminated by using an integral sliding mode control strategy. Second, a new centralized optimization mechanism is developed that allows all agents to reach the same state in a fixed time and then converge to the optimal value of the global objective function. Meanwhile, the optimization problem is extended to switching topologies. Moreover, as the gradient information of the global objective function is difficult to obtain in advance, we construct a decentralized optimization protocol that enables all agents to acquire the same state in a certain amount of time while also optimizing the global optimization problem. Finally, two numerical simulations are presented to validate the effectiveness and reliability of the developed control strategy.

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Section: Proof Let the Estimator Error ŷImentioning

confidence: 99%

“…The convergence time is independent of the initial value of the system. Inspired by Reference [40], we will consider the fixed-time distributed optimization problem with time-varying delays in our future work.…”

Section: Proof Let the Estimator Error ŷImentioning

confidence: 99%

Fixed-Time Distributed Optimization for Multi-Agent Systems with Input Delays and External Disturbances

Jiang

2022

Mathematics

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“…Haptic technology recreates the sense of touch for human operators operating tasks on remote or virtual environments [1]. Dual user haptic systems, as a recent advancement in haptic technology, provide a mechanism through which two users, possibly an expert operator and a novice operator, execute a task in collaboration.…”

Section: Introductionmentioning

confidence: 99%

A dual robust control architecture with variable stiffness and damping parameters for switching task dominance in collaborative haptic systems

Motaharifar

Sharifi

Sadeghi

et al. 2023

IET Control Theory & Appl

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In collaborative haptic training systems, a novice operator is interfaced with an expert operator and cooperatively performs some task on a real/virtual environment. Most control architectures for collaborative haptic training systems do not consider the switching task dominance together with investigating overall stability in the presence of nonlinear dynamics and uncertainty. In this paper, a theoretical framework is presented for switching task dominance in collaborative haptic training systems based on supervision and intervention of the expert operator. To that effect, the novice operator performs the operation with as little as possible interference haptic signals in the normal operational conditions. On the other hand, the expert operator is able to intervene the operation to guide the novice operator when it is necessary. The most challenging part of controller design for such systems is to provide the mentioned supervisory framework in a way that the stability of interaction between the operators and the system is ensured with acceptable task performance in various operational conditions. This work offers a variable‐gain dual robust control scheme to address the above problem. The key idea is that the tracking gain of each controller is adjusted in real‐time to switch the task authorities. It is verified that the input‐to‐state stability property is satisfied for each subsystem. Then, the overall stability is proved by leveraging the small gain theorem. Finally, the functionality and performance of the suggested control architecture is demonstrated through simulation and experimental studies.

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“…Huang et al [26] derived the formulations of the dynamic instability of nanobeams according to the Reddy beam model and the Bolotin method, while the Levinson beam theory has not been applied in the dynamic stability analysis of nanobeams. The Lyapunov stability theory is effective for a homogeneous, nonlinear system, while the Bolotin method is popular for linear structures [27][28][29]. Consequently, the main contribution of this work is to provide a more accurate evaluation method for the dynamic stability of nanobeams based on the Bolotin method and the Levinson beam model which would avoid the errors caused by the Euler-Bernoulli and Timoshenko beam theories.…”

Section: Introductionmentioning

confidence: 99%

Investigation into the Dynamic Stability of Nanobeams by Using the Levinson Beam Model

Huang

2023

Materials

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Dynamic stability is an important mechanical behavior of nanobeams, which has been studied extensively using the Euler–Bernoulli and Timoshenko beam theories, while the Levinson-beam-theory-based dynamic instability analysis of nanobeams has not been investigated yet. Shear deformation is not or is not suitably considered in the Euler–Bernoulli and Timoshenko theories, so it is very important to introduce the Levinson beam theory in the dynamic stability analysis of nanobeams, which correctly models the combined action of bending and shear in nanobeams with smaller length/height ratios. In this work, the equation of the transverse vibration of a Levinson beam embedded in an elastic foundation is firstly formulated based on the displacement field of Levinson beam theory, and the nonlocal theory is further applied to the Levinson nanobeam. Then, the governing equation of the dynamic stability of the Levinson nanobeam is derived using Bolotin’s method to achieve a generalized eigenvalue problem corresponding to the boundaries of regions of dynamic instability. The principal instability region (PIR) is the most important among all regions, so the boundary of the PIR is focused on in this work to investigate the dynamic stability of the Levinson nanobeam. When the width, length/height ratio, density, Young’s modulus, Poisson’s ratio, size scale parameter, and medium stiffness increase by about 1.5 times, the width of the PIR changes by about 19%, −57%, −20%, 65%, 0, −9%, and −11%, respectively. If a smaller critical excitation frequency and narrower width of the PIR correspond to the better performance of dynamic stability, the study shows that the dynamic stability of the Levinson nanobeam embedded in an elastic medium improves under a larger length and density and a smaller width, height, and Young’s modulus, since these factors are related to the natural frequency of the nanobeam which controls the width of the PIR. Additionally, the local model would overestimate the dynamic stability behavior of the Levinson nanobeam.

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Finite‐time convergence for bilateral teleoperation systems with disturbance and time‐varying delays

Cited by 22 publications

References 41 publications

Fixed-Time Distributed Optimization for Multi-Agent Systems with Input Delays and External Disturbances

Fixed-Time Distributed Optimization for Multi-Agent Systems with Input Delays and External Disturbances

A dual robust control architecture with variable stiffness and damping parameters for switching task dominance in collaborative haptic systems

Investigation into the Dynamic Stability of Nanobeams by Using the Levinson Beam Model

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