Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961367
C. Bellotti
The aim of this invention is to provide a learning system for instructing the blind, those with vision impairments, and the sighted, through independent exploration and understanding of the shape, structure, features, and history of any object. The system is primarily made up of two scale models: - The first is a master multimedia model for haptic exploration guided by audio information; - The second is a non-multimedia slave model for assembly to check comprehension of the features of the master model. The latter is designed to be modular and perfectly analogous to the multimedia master model in size, geometry, and surface finishing, where each individual piece fits into its surrounding continuity. The models portray the Temple of Concordia in the Valley of the Temples in Agrigento, Sicily. Learning takes place through haptic exploration and audio information. The models were devised to exalt haptic and kinesthetic capacity and to foster the construction of mental maps and images by the blind and by those with impaired vision, through tactile and audio stimuli. We took as our reference the ten typical characteristics of haptic perception listed by the psychologist Géza Révész. Exploration of the master model and reconstruction of the slave model are carried out independently by the blind learner, with no help from the tutor or teacher who is instructing them on how to use the models and what to do with them to understand their features. The system is based on the concept of learning to use an instructional tool by using it. The models themselves independently teach the learner to use and understand them. This system has already been successfully tested in Italy at the Istituto dei Ciechi di Milano. In addition to easy understanding of the object, results obtained included an increase in personal satisfaction, improved self-esteem, and better psychological well-being. Learners attained these results by interacting with a very simple and immediate self-teaching system. These encouraging results persuaded me to pursue research into optimizing the models to make them more usable and comprehensible.
{"title":"Tactile, three-dimensional, multimedia teaching system for the blind, the vision-impaired, and sighted learners: Touch, listen, learn","authors":"C. Bellotti","doi":"10.1109/MED.2014.6961367","DOIUrl":"https://doi.org/10.1109/MED.2014.6961367","url":null,"abstract":"The aim of this invention is to provide a learning system for instructing the blind, those with vision impairments, and the sighted, through independent exploration and understanding of the shape, structure, features, and history of any object. The system is primarily made up of two scale models: - The first is a master multimedia model for haptic exploration guided by audio information; - The second is a non-multimedia slave model for assembly to check comprehension of the features of the master model. The latter is designed to be modular and perfectly analogous to the multimedia master model in size, geometry, and surface finishing, where each individual piece fits into its surrounding continuity. The models portray the Temple of Concordia in the Valley of the Temples in Agrigento, Sicily. Learning takes place through haptic exploration and audio information. The models were devised to exalt haptic and kinesthetic capacity and to foster the construction of mental maps and images by the blind and by those with impaired vision, through tactile and audio stimuli. We took as our reference the ten typical characteristics of haptic perception listed by the psychologist Géza Révész. Exploration of the master model and reconstruction of the slave model are carried out independently by the blind learner, with no help from the tutor or teacher who is instructing them on how to use the models and what to do with them to understand their features. The system is based on the concept of learning to use an instructional tool by using it. The models themselves independently teach the learner to use and understand them. This system has already been successfully tested in Italy at the Istituto dei Ciechi di Milano. In addition to easy understanding of the object, results obtained included an increase in personal satisfaction, improved self-esteem, and better psychological well-being. Learners attained these results by interacting with a very simple and immediate self-teaching system. These encouraging results persuaded me to pursue research into optimizing the models to make them more usable and comprehensible.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126774006","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961600
A. Salihbegovic, M. Hebibovic
Control design for a small-scale helicopter is quite challenging due to its nonlinearities, unknown and unmodelled dynamics, strong cross-coupling effects produced by the vehicles actuators, parametric uncertainties and external disturbances. This paper introduces the design of robust and stable disturbance observer (DOB) based sliding mode control (SMC) to meet these issues. It consists of the disturbance observer in the inner control loop which estimates and attenuates plant input generalized disturbance, and the sliding mode controller in the outer control loop which enforces convergence to the reference and stability of the equilibrium. Introduced disturbance observer is a linear low-pass filter capable to compensate unwanted chattering effects of the sliding mode control. The highly nonlinear helicopter model is introduced to illustrate effectiveness of the proposed control method. Designed controllers are implemented in the simulation mode and experimentally tested in a realistic environment. Obtained results showed that developed DOB based SMC controllers improve tracking performances o ver the entire range of the helicopter output variables even in the presence of additional parametric uncertainties, and external disturbances in the form of wind gusts.
{"title":"Attitude Tracking of the Small-Scale Helicopter System using Disturbance Observer based Sliding Mode Control","authors":"A. Salihbegovic, M. Hebibovic","doi":"10.1109/MED.2014.6961600","DOIUrl":"https://doi.org/10.1109/MED.2014.6961600","url":null,"abstract":"Control design for a small-scale helicopter is quite challenging due to its nonlinearities, unknown and unmodelled dynamics, strong cross-coupling effects produced by the vehicles actuators, parametric uncertainties and external disturbances. This paper introduces the design of robust and stable disturbance observer (DOB) based sliding mode control (SMC) to meet these issues. It consists of the disturbance observer in the inner control loop which estimates and attenuates plant input generalized disturbance, and the sliding mode controller in the outer control loop which enforces convergence to the reference and stability of the equilibrium. Introduced disturbance observer is a linear low-pass filter capable to compensate unwanted chattering effects of the sliding mode control. The highly nonlinear helicopter model is introduced to illustrate effectiveness of the proposed control method. Designed controllers are implemented in the simulation mode and experimentally tested in a realistic environment. Obtained results showed that developed DOB based SMC controllers improve tracking performances o ver the entire range of the helicopter output variables even in the presence of additional parametric uncertainties, and external disturbances in the form of wind gusts.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124149752","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961529
Kebo Li, Hyo-Sang Shin, A. Tsourdos, Lei Chen
A three-dimensional (3D) geometric guidance law (GGL) was recently proposed based on the differential geometric curve theory, whose performance was thought to be better than that of 3D pure proportional navigation (PPN). In this paper, with the help of the dimension-reduction method and the Lyapunov-like approach, the performance of 3D GGL against a randomly maneuvering target with limited maneuverability is studied. The analysis in this paper proves that, for a certain initial heading error, if the navigation gain is large enough, a missile guided by 3D GGL can guarantee an intercept of the maneuvering target and keep the heading error in a certain range, as long as the missile has a speed advantage over the target. Moreover, if the navigation gain is sufficiently large, the LOS rate and commanded acceleration can also be limited in certain ranges. Finally, the performance of 3D GGL is demonstrated by numerical simulation results.
{"title":"Performance analysis of a three-dimensional geometric guidance law using Lyapunov-like approach","authors":"Kebo Li, Hyo-Sang Shin, A. Tsourdos, Lei Chen","doi":"10.1109/MED.2014.6961529","DOIUrl":"https://doi.org/10.1109/MED.2014.6961529","url":null,"abstract":"A three-dimensional (3D) geometric guidance law (GGL) was recently proposed based on the differential geometric curve theory, whose performance was thought to be better than that of 3D pure proportional navigation (PPN). In this paper, with the help of the dimension-reduction method and the Lyapunov-like approach, the performance of 3D GGL against a randomly maneuvering target with limited maneuverability is studied. The analysis in this paper proves that, for a certain initial heading error, if the navigation gain is large enough, a missile guided by 3D GGL can guarantee an intercept of the maneuvering target and keep the heading error in a certain range, as long as the missile has a speed advantage over the target. Moreover, if the navigation gain is sufficiently large, the LOS rate and commanded acceleration can also be limited in certain ranges. Finally, the performance of 3D GGL is demonstrated by numerical simulation results.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123685377","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961510
L. Fusini, T. Fossen, T. Johansen
In this paper a nonlinear observer for estimation of position, velocity, acceleration, attitude and gyro bias of an Unmanned Aerial Vehicle (UAV) is proposed. The sensor suite consists of an Inertial Measurement Unit (IMU), a Global Navigation Satellite System (GNSS) receiver, a video camera, an altimeter, and an inclinometer. The camera and machine vision systems can track features from the environment and calculate the optical flow. These data, together with those from the other sensors, are fed to the observer, that is proven to be uniformly semiglobally exponentially stable (USGES). The performance of the observer is tested on simulated data by assuming that the camera system can provide the necessary information.
{"title":"A uniformly semiglobally exponentially stable nonlinear observer for GNSS- and camera-aided inertial navigation","authors":"L. Fusini, T. Fossen, T. Johansen","doi":"10.1109/MED.2014.6961510","DOIUrl":"https://doi.org/10.1109/MED.2014.6961510","url":null,"abstract":"In this paper a nonlinear observer for estimation of position, velocity, acceleration, attitude and gyro bias of an Unmanned Aerial Vehicle (UAV) is proposed. The sensor suite consists of an Inertial Measurement Unit (IMU), a Global Navigation Satellite System (GNSS) receiver, a video camera, an altimeter, and an inclinometer. The camera and machine vision systems can track features from the environment and calculate the optical flow. These data, together with those from the other sensors, are fed to the observer, that is proven to be uniformly semiglobally exponentially stable (USGES). The performance of the observer is tested on simulated data by assuming that the camera system can provide the necessary information.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122954846","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961440
A. Locatelli, N. Schiavoni
In this paper we face a consensus problem stated for networks where the agents are identical oscillators. The first special feature of our problem is that the agents share a partial information on their states through communication apparatuses which are subject to faults. Moreover, we require that the agreement laws and the dominant dynamics towards the consensus manifold are arbitrarily prespecified and not affected by the faults. Our results are constituted by a necessary and sufficient solvability condition, together with explicit formulas for high-gain regulators.
{"title":"Fault-tolerant consensus in oscillator networks with assignment of agreement laws and dynamics","authors":"A. Locatelli, N. Schiavoni","doi":"10.1109/MED.2014.6961440","DOIUrl":"https://doi.org/10.1109/MED.2014.6961440","url":null,"abstract":"In this paper we face a consensus problem stated for networks where the agents are identical oscillators. The first special feature of our problem is that the agents share a partial information on their states through communication apparatuses which are subject to faults. Moreover, we require that the agreement laws and the dominant dynamics towards the consensus manifold are arbitrarily prespecified and not affected by the faults. Our results are constituted by a necessary and sufficient solvability condition, together with explicit formulas for high-gain regulators.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122043183","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961417
S. E. Benattia, S. Tebbani, D. Dumur
The objective of this study is to design a Nonlinear Model Predictive Controller for a microalgae culture process to regulate the biomass concentration at a chosen setpoint. The optimization problem is discretized and transformed into a nonlinear programming problem, solved by Control Vector Parametrization technique. However, the performances of the NMPC usually decrease when the true plant evolution deviates significantly from that predicted by the model. Therefore, a control approach that considers model uncertainty is further considered by adding a system-model error signal which represents the gap between the system output and the model prediction. In order to reduce the influence of measurement noise introduced by sensors and to have a smooth control signal, a penalty term on the control variation is added in the objective function. Finally, the method is validated in simulation and numerical results are given to illustrate the efficiency of the control strategy for setpoint tracking in the presence of parameter uncertainties, measurement noise and light variation.
{"title":"Nonlinear Model Predictive Control for regulation of microalgae culture in a continuous photobioreactor","authors":"S. E. Benattia, S. Tebbani, D. Dumur","doi":"10.1109/MED.2014.6961417","DOIUrl":"https://doi.org/10.1109/MED.2014.6961417","url":null,"abstract":"The objective of this study is to design a Nonlinear Model Predictive Controller for a microalgae culture process to regulate the biomass concentration at a chosen setpoint. The optimization problem is discretized and transformed into a nonlinear programming problem, solved by Control Vector Parametrization technique. However, the performances of the NMPC usually decrease when the true plant evolution deviates significantly from that predicted by the model. Therefore, a control approach that considers model uncertainty is further considered by adding a system-model error signal which represents the gap between the system output and the model prediction. In order to reduce the influence of measurement noise introduced by sensors and to have a smooth control signal, a penalty term on the control variation is added in the objective function. Finally, the method is validated in simulation and numerical results are given to illustrate the efficiency of the control strategy for setpoint tracking in the presence of parameter uncertainties, measurement noise and light variation.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122109226","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961555
K. Baizid, F. Caccavale, S. Chiaverini, G. Giglio, F. Pierri
This paper treats the safety issues in coordinated transportation of an object via multiple Unmanned Aerial Vehicles with Manipulator Systems (UAVMS); in particular, the case of obstacle avoidance is considered. The proposed paradigm is based on the so-called Null-Space-based Behavioral (NSB) control approach, that allows to achieve multiple tasks simultaneously. Two different scenarios of bar transportation using multi-UAVMSs have been developed, tested and compared in simulation: in the first scenario, the obstacle avoidance is achieved at the coordination level, where the controller allows the whole system (UAVMSs and bar) to circumnavigate the obstacle; while in the second scenario only the UAVMS closest to the obstacle modifies its trajectory to overcome the obstacle by keeping the desired trajectory of the bar unchanged.
{"title":"Safety in coordinated control of multiple unmanned aerial vehicle manipulator systems: Case of obstacle avoidance","authors":"K. Baizid, F. Caccavale, S. Chiaverini, G. Giglio, F. Pierri","doi":"10.1109/MED.2014.6961555","DOIUrl":"https://doi.org/10.1109/MED.2014.6961555","url":null,"abstract":"This paper treats the safety issues in coordinated transportation of an object via multiple Unmanned Aerial Vehicles with Manipulator Systems (UAVMS); in particular, the case of obstacle avoidance is considered. The proposed paradigm is based on the so-called Null-Space-based Behavioral (NSB) control approach, that allows to achieve multiple tasks simultaneously. Two different scenarios of bar transportation using multi-UAVMSs have been developed, tested and compared in simulation: in the first scenario, the obstacle avoidance is achieved at the coordination level, where the controller allows the whole system (UAVMSs and bar) to circumnavigate the obstacle; while in the second scenario only the UAVMS closest to the obstacle modifies its trajectory to overcome the obstacle by keeping the desired trajectory of the bar unchanged.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123463457","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961459
C. Sourkounis, J. Wenske
The importance of electric and plug-in hybrid vehicles as a serious alternative to conventional-driven vehicles especially in urban areas increases. The main disadvantage for the use of such vehicles for long distance is the low capacity of the battery. A quick charging time realized by a high power level of 50 kW (compared with a standard charging station) describes a feasible technical solution for a higher driving range per day. This solution requires the development of an infrastructure for high power charging at places with public access like motorway service stations and can lead to a wide utilization of electric vehicles. This paper deals with voltage control at the grid connection point by quick charging stations for a large scale integration in areas with weak power grid infrastructure.
{"title":"Voltage control at grid connection point by high power charging stations","authors":"C. Sourkounis, J. Wenske","doi":"10.1109/MED.2014.6961459","DOIUrl":"https://doi.org/10.1109/MED.2014.6961459","url":null,"abstract":"The importance of electric and plug-in hybrid vehicles as a serious alternative to conventional-driven vehicles especially in urban areas increases. The main disadvantage for the use of such vehicles for long distance is the low capacity of the battery. A quick charging time realized by a high power level of 50 kW (compared with a standard charging station) describes a feasible technical solution for a higher driving range per day. This solution requires the development of an infrastructure for high power charging at places with public access like motorway service stations and can lead to a wide utilization of electric vehicles. This paper deals with voltage control at the grid connection point by quick charging stations for a large scale integration in areas with weak power grid infrastructure.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131857551","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961416
Mathieu Beauchemin-Turcotte, G. Gauthier, R. Sabourin
This paper presents an innovative approach to the design of a cycle to cycle control algorithm: Fuzzy Terminal Iterative Learning Control (f-TILC). This is the first fuzzy Terminal Iterative Learning Control (TILC) ever proposed up to now. This fuzzy controller is built from a fuzzy model of the process, based on the 1st order Takagi Sugeno Kwan Fuzzy Inference System. The rule consequents are expressed as matricial equations, and obtained from experimental results and kriging interpolation. Simulation results show the effectiveness of our fuzzy TILC, especially in terms of providing a good initial guess as to the inputs to apply to the control process. This control approach can help to reduce the wastage of products in thermoforming processes.
{"title":"Design of Fuzzy Terminal Iterative Learning Control based on internal model control","authors":"Mathieu Beauchemin-Turcotte, G. Gauthier, R. Sabourin","doi":"10.1109/MED.2014.6961416","DOIUrl":"https://doi.org/10.1109/MED.2014.6961416","url":null,"abstract":"This paper presents an innovative approach to the design of a cycle to cycle control algorithm: Fuzzy Terminal Iterative Learning Control (f-TILC). This is the first fuzzy Terminal Iterative Learning Control (TILC) ever proposed up to now. This fuzzy controller is built from a fuzzy model of the process, based on the 1st order Takagi Sugeno Kwan Fuzzy Inference System. The rule consequents are expressed as matricial equations, and obtained from experimental results and kriging interpolation. Simulation results show the effectiveness of our fuzzy TILC, especially in terms of providing a good initial guess as to the inputs to apply to the control process. This control approach can help to reduce the wastage of products in thermoforming processes.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130374524","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-16DOI: 10.1109/MED.2014.6961534
L. Márton, Z. Szántó, T. Vajda, P. Haller, Hunor Sándor, T. Szabó, L. Tamás
One of the most challenging problems during the design of bilateral teleoperation systems implemented over Wide Area Networks is to assure the stability and transparency in the presence of time varying communication delay between the master and the slave. In this work the influence of the delay and jitter on the passivity controller - passivity observer type stabilizers is analyzed. This control design approach does not require the explicit knowledge on the communication delay. In spite of this fact in this work it is shown that time varying the delay influences the teleoperation performances. Firstly, the relation between the delay and the dissipated energy by the controller was studied. Secondly, it was shown that in the presence of jitter the passivity controller can induce undesired oscillations into the received signals, affecting the transparency of the teleoperation. To handle this problem an extended passivity controller was proposed which assures better performances in the presence of jitter. Experimental measurements, including teleoperation experiments between two universities situated in different countries, are performed to validate the theoretical results.
{"title":"Communication delay and jitter influence on bilateral teleoperation","authors":"L. Márton, Z. Szántó, T. Vajda, P. Haller, Hunor Sándor, T. Szabó, L. Tamás","doi":"10.1109/MED.2014.6961534","DOIUrl":"https://doi.org/10.1109/MED.2014.6961534","url":null,"abstract":"One of the most challenging problems during the design of bilateral teleoperation systems implemented over Wide Area Networks is to assure the stability and transparency in the presence of time varying communication delay between the master and the slave. In this work the influence of the delay and jitter on the passivity controller - passivity observer type stabilizers is analyzed. This control design approach does not require the explicit knowledge on the communication delay. In spite of this fact in this work it is shown that time varying the delay influences the teleoperation performances. Firstly, the relation between the delay and the dissipated energy by the controller was studied. Secondly, it was shown that in the presence of jitter the passivity controller can induce undesired oscillations into the received signals, affecting the transparency of the teleoperation. To handle this problem an extended passivity controller was proposed which assures better performances in the presence of jitter. Experimental measurements, including teleoperation experiments between two universities situated in different countries, are performed to validate the theoretical results.","PeriodicalId":127957,"journal":{"name":"22nd Mediterranean Conference on Control and Automation","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115017710","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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