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Time domain passivity control, a well known control scheme widely used for teleoperation systems, normally works under the constraint of zero division. Small force or velocity signals can cause the occurrence of zero division which ultimately leads the system to be unstable. This paper presents a novel switching time domain passivity control scheme for multilateral teleoperation systems which not...
The objective of this paper is to develop a novel consensus control algorithm for multi-agent systems (MAS) experiencing constant and time-varying communication delays along with random packet data loss. The topology of the communication network of the system is modeled by an algebraic graph theory. The multi-agent dynamics is based on double integrator systems in discrete time domain. Bernoulli distribution...
Bilateral teleoperation technology has caused wide attentions due to its applications in various remote operation systems. However, to really realize teleoperation requirements, there still exist some challenging control issues: a) the communication delay between master and slave manipulators may lead to system instability or performance decreasing; b) in some applications, the sensors are not easily...
In this paper, the power and energy behavior of bilateral communication with time delay is analyzed. Time delay may result in activeness and in turn generate energy. In a bilateral system, the energy generated by time delay communication can destabilize the whole system. Based on the power based time domain passivity control previously proposed by the authors, a time domain passivity control approach...
In this paper, new control strategies based on linear matrix inequalities and Markov jump linear systems are proposed for bilateral teleoperation systems over networks with random time delays and packet losses. The characteristics of the network are thoroughly incorporated in the design and two cases are considered: where both communication directions behave identically and where they are independent...
In this paper, a sampled-data iterative learning control (ILC) approach is proposed for a class of nonlinear networked control systems. The motivation of this approach is to deal with control problems when the environment is periodic or repeatable over iterations in a fixed finite interval. In the networked control systems (NCS), because of the existence of time delays and packet losses in input and...
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