Stability of sampled‐data, delayed haptic interaction under passive or active operator

Miandashti, Noushin; Tavakoli, Mahdi

doi:10.1049/iet-cta.2013.0908

Cited by 8 publications

(5 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In future works, it is planned to extend the results of this paper to the hyperstability and passivity theories, [32][33][34][35][36] by designing the controller gains so that "ad hoc" Popov stype inequalities be satisfied by a feedback control loop under generic nonlinear timevarying control laws.…”

Section: A CL (T)p(t) + P(t)mentioning

confidence: 99%

On the Stabilization through Linear Output Feedback of a Class of Linear Hybrid Time-Varying Systems with Coupled Continuous/Discrete and Delayed Dynamics with Eventually Unbounded Delay

Sen

2022

Mathematics

View full text Add to dashboard Cite

This research studies a class of linear, hybrid, time-varying, continuous time-systems with time-varying delayed dynamics and non-necessarily bounded, time-varying, time-differentiable delay. The considered class of systems also involves a contribution to the whole delayed dynamics with respect to the last preceding sampled values of the solution according to a prefixed constant sampling period. Such systems are also subject to linear output-feedback time-varying control, which picks-up combined information on the output at the current time instant, the delayed one, and its discretized value at the preceding sampling instant. Closed-loop asymptotic stabilization is addressed through the analysis of two “ad hoc” Krasovskii–Lyapunov-type functional candidates, which involve quadratic forms of the state solution at the current time instant together with an integral-type contribution of the state solution along a time-varying previous time interval associated with the time-varying delay. An analytic method is proposed to synthesize the stabilizing output-feedback time-varying controller from the solution of an associated algebraic system, which has the objective of tracking prescribed suited reference closed-loop dynamics. If this is not possible—in the event that the mentioned algebraic system is not compatible—then a best approximation of such targeted closed-loop dynamics is made in an error-norm sense minimization. Sufficiency-type conditions for asymptotic stability of the closed-loop system are also derived based on the two mentioned Krasovskii–Lyapunov functional candidates, which involve evaluations of the contributions of the delay-free and delayed dynamics.

show abstract

Section: A CL (T)p(t) + P(t)mentioning

confidence: 99%

On the Stabilization through Linear Output Feedback of a Class of Linear Hybrid Time-Varying Systems with Coupled Continuous/Discrete and Delayed Dynamics with Eventually Unbounded Delay

Sen

2022

Mathematics

View full text Add to dashboard Cite

show abstract

“…Stability Conditions for a Non-Passive Operator or Environment Recent researches try to get rid of the passivity conditions of the operator or the environment. Miandashti and Tavakoli [43] used discrete-time circle criterion for the absolute stability of a sampled-data haptic interaction. The main advantage of this method is that the operator is allowed to have an active behaviour.…”

Section: 4mentioning

confidence: 99%

Discrete-time control of bilateral teleoperation systems: a review

Ghavifekr¹,

Ghiasi²,

Badamchizadeh³

2017

Robotica

View full text Add to dashboard Cite

SUMMARYThe possibility of operating in remote environments using teleoperation systems has been considered widely in the control literature. This paper presents a review on the discrete-time teleoperation systems, including issues such as stability, passivity and time delays. Using discrete-time methods for a master-slave teleoperation system can simplify control implementation. Varieties of control schemes have been proposed for these systems and major concerns such as passivity, stability and transparency have been studied. Recently, unreliable communication networks affected by packet loss and variable transmission delays have been received much attention. Thus, it is worth considering discrete-time theories for bilateral teleoperation architectures, which are formulated on the same lines as the continuous-time systems. Despite the extensive amount of researches concerning continuous-time teleoperation systems, only a few papers have been published on the analysis and controller design for discrete bilateral forms. This paper takes into account the challenges for the discrete structure of bilateral teleoperation systems and notifies the recent contributions in this area. The effect of sampling time on the stability-transparency trade-off and the task performance is taken into consideration in this review. These studies can help to design guidelines to have better transparency and stable teleoperation systems.

show abstract

“…It can also be pointed out that a wide class of existing results on non-linear stability and stabilization synthesis tools, c.f. [13,14,15,16,17,18], can be described in a unified manner under the hyperstablity and passivity theories, [19,20,21], which are more general. See also [22,23,24,25] and references therein for further theoretical and application work of stability, robust stability and hyperstability.…”

Section: Introductionmentioning

confidence: 99%

On the Design of Hyperstable Feedback Controllers for a Class of Parameterized Nonlinearities. Two Application Examples for Controlling Epidemic Models

Sen

2019

IJERPH

View full text Add to dashboard Cite

This paper studies the hyperstability and the asymptotic hyperstability of a single-input single-output controlled dynamic system whose feed-forward input-output dynamics is nonlinear and eventually time-varying consisting of a linear nominal part, a linear incremental perturbed part and a nonlinear and eventually time-varying one. The nominal linear part is described by a positive real transfer function while the linear perturbation is defined by a stable transfer function. The nonlinear and time-varying disturbance is, in general, unstructured but it is upper-bounded by the combination of three additive absolute terms depending on the input, output and input-output product, respectively. The non-linear time-varying feedback controller is any member belonging to a general class which satisfies an integral Popov’s-type inequality. This problem statement allows the study of the conditions guaranteeing the robust stability properties under a variety of the controllers designed for the controlled system and controller disturbances. In this way, set of robust hyperstability and asymptotic hyperstability of the closed-loop system are given based on the fact that the input-output energy of the feed-forward controlled system is positive and bounded for all time and any given initial conditions and controls satisfying Popov’s inequality. The importance of those hyperstability and asymptotic hyperstability properties rely on the fact that they are related to global closed-loop stability, or respectively, global closed-loop asymptotic stability of the same uncontrolled feed-forward dynamics subject to a great number of controllers under the only condition that that they satisfy such a Popov’s-type inequality. It is well-known the relevance of vaccination and treatment controls for Public Health Management at the levels of prevention and healing. Therefore, two application examples concerning the linearization of known epidemic models and their appropriate vaccination and/or treatment controls on the susceptible and infectious, respectively, are discussed in detail with the main objective in mind of being able of achieving a fast convergence of the state- trajectory solutions to the disease- free equilibrium points under a wide class of control laws under deviations of the equilibrium amounts of such populations.

show abstract

Stability of sampled‐data, delayed haptic interaction under passive or active operator

Cited by 8 publications

References 26 publications

On the Stabilization through Linear Output Feedback of a Class of Linear Hybrid Time-Varying Systems with Coupled Continuous/Discrete and Delayed Dynamics with Eventually Unbounded Delay

On the Stabilization through Linear Output Feedback of a Class of Linear Hybrid Time-Varying Systems with Coupled Continuous/Discrete and Delayed Dynamics with Eventually Unbounded Delay

Discrete-time control of bilateral teleoperation systems: a review

On the Design of Hyperstable Feedback Controllers for a Class of Parameterized Nonlinearities. Two Application Examples for Controlling Epidemic Models

Contact Info

Product

Resources

About