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Based on basic structure and power flow control theory of Thyristor Controlled Interphase Power Controller (TCIPC), mathematical model coordinates of relationship between the branch current of TCIPC, port voltage and controlled transmission power in the dq0 is established. According to power-angle characteristic of TCIPC, regulating the inductive branch parameters of IPC will improve transient stability...
In this paper, new sets of desired objectives will be introduced for dual user systems. It will be shown that the existing set of objectives leads to eliminate the effect of dominance factor from the picture, while this is an important factor in dual user system. Consequently, in this paper, two sets of desired objective containing the dominance factor are presented, which can be used in variety of...
In this paper, a novel decentralized multilateral structure is proposed for the dual user systems in the presence of communication delay. The proposed structure utilizes adaptive impedance control approach in order to overcome the destructive effect of the time-delay on system desired-objectives, which is a disregarded issue in the previous studies on dual user system. The proposed control strategy,...
In some practical situations multi APFs are located far from each other, paralleled through the long cables. In this system the stability of one APF is influenced by the other APF paralleled with it. In this paper stability of the multi-parallel APF system is analyzed. Moreover, the improvement methods for stability of the system are given.
Dual-user teleoperation systems consisting of two master robots and one slave robot can be employed in order to facilitate the collaboration of two operators in a cooperative operation. Although, the stability as well as the performance of such systems suffers from undesired effects of latency, the significant issue of communication delay has been disregarded in the previous reported studies upon...
This paper presents a sliding mode-based impedance controller for delayed dual user teleoperation system with unknown delay. The latency which has considerable undesirable effects on system stability and performance is compensated through this control approach. The nonlinear gain of the controller is achieved independent of time delay caused by communication channels. Therefore, the necessity of measurement...
Among the still existing issues in bilateral teleoperation, there is the inability by force-feedback control schemes to guarantee delay-independent stability and achieve both position coordination and force reflection independently of the remote environmental dynamics. Particularly, most bilateral control frameworks fail to address position coordination when interacting with rigid environments. In...
This paper presents a study on the application of reset control principles to the field of teleoperation based on passivity. The main problem addressed here is the effect of the communication delay. The proposed ideas provide a novel approach which combines the robustness derived from the passivity techniques with the performance improvement enabled by the reset strategy. Results on the stability...
This paper proposes a novel framework for the analysis and design of linear teleoperation controllers that are robust to time-delay. The framework that is based upon the earlier work of the authors employs scattering parameters and reflection coefficients to guarantee absolute stability of the system under any amount of delays. The proposed framework that incorporates both stability and performance...
Class D amplifiers are becoming the most feasible solution for embedded audio application. However, distortions due to the non-linear nature of switching stage are the main drawback for this amplifier topology. This paper discusses the design and implementation of high fidelity audio class D using sliding mode control scheme. This design method proves to be a cost effective solution for industrial...
This paper presents a new force-reflecting teleoperation control system scheme with varying time delay. Time delay is an unavoidable factor in teleoperation. Transmission time delays are possibly destabilizing, and reduce significantly ability of teleoperation. Considering the time-varying non-deterministic characteristic of the control and delays, a novel adaptive inverse controller is proposed....
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