Minimal operation region prediction for networked control robotic manipulators subject to time‐varying delays and disturbances

Autor: Van Thanh Huynh, Chee Peng Lim, Zoran Najdovski, Dinh Cong Huong, Hieu Trinh
Jazyk: angličtina
Rok vydání: 2024
Předmět:
Zdroj: IET Control Theory & Applications, Vol 18, Iss 8, Pp 1085-1097 (2024)
Druh dokumentu: article
ISSN: 1751-8652
1751-8644
DOI: 10.1049/cth2.12650
Popis: Abstract Due to the disturbances and varying latency, a teleoperated robotic manipulator might not comply with the master control commands. Although prior studies on minimising the impact of network latency and disturbances on teleoperated robots were conducted, there has been very little research on the prediction of minimal operation regions of robotic arms, especially in the worst‐case scenarios when the disturbances and time delays still prevail even after impact minimisation. This study investigates the problem and proposes a novel solution to predicting minimal operation regions of networked control robotic manipulators. The proposed method can be used to forecast safe operation regions in which the manipulators will certainly enter and exclude regions that the robots will never penetrate. Leveraging on a Lyanonov Krasovskii criterion, the method performs region prediction by establishing minimal reachable bounding sets of the nonlinear, perturbed robotic arm's state vectors guided via a time‐varying delay‐dominant network. Though predominantly nonlinear, the entire prediction process is formulated as a tractable Linear Matrix Inequality (LMI) optimisation problem, which can be solved efficiently and effectively. Efficacy of the proposed method is validated with simulations where a simulated robotic arm is distorted with time‐varying delays and disturbances.
Databáze: Directory of Open Access Journals
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