Online time delay estimation in networked control systems with application to bilateral teleoperation
| Autor: | Enver Tatlicioglu, Kamil Cetin, Alper Bayrak |
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| Přispěvatelé: | TR123720, Tatlıcıoğlu, Enver, Izmir Institute of Technology. Electronics and Communication Engineering, BAİBÜ, Mühendislik Fakültesi, Elektrik Elektronik Mühendisliği Bölümü, Bayrak, Alper |
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Engineering 02 engineering and technology Round-trip delay time symbols.namesake 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering Latency (engineering) Control systems business.industry 020208 electrical & electronic engineering Estimator Via Lyapunov Based Stability Analysis Feedback loop Nonlinear system Control system Teleoperation symbols Bilateral teleoperation business Networked Control Systems Time delay PHANToM Omni Haptic Device Delay control systems |
| Zdroj: | ECC |
| Popis: | 2016 European Control Conference, ECC 2016; Aalborg; Denmark; 29 June 2016 through 1 July 2016 The problem of forward and backward time delays is significantly important for both control and feedback loop of networked control systems. These time delays give rise to latency in performance and thereby may destabilize the system. Therefore numerous methods have been proposed about time delay identification/estimation and compensation for networked control systems, especially for bilateral teleoperation systems. However, most compensation methods have been accomplished by considering offline time delay estimation for linear/nonlinear time delay control systems. In this work, we propose an observer based estimation algorithm for round trip delay which is the sum of forward and backward time delays for a 1 degree-of-freedom nonlinear bilateral teleoperation system. Via Lyapunov based stability analysis, global boundedness of the observer errors along with their ultimate convergence and the convergence of the round trip delay estimator to the vicinity of its real value can be guaranteed in the closed-loop system. Finally, simulation and experimental studies are carried out utilizing the last link of a PHANToM Omni Haptic device moving like a one-link robot in the vertical plane. Scientific and Technological Research Council of Turkey (113E147) |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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