Pub Date : 2023-09-21DOI: 10.1007/s40435-023-01298-z
Diego D. Santiago, Emanuel Slawiñski, Lucio R. Salinas, Vicente A. Mut
Abstract This paper focuses on the design and analysis of a P+d+f (Proportional, Derivative, and Force) variable control strategy aimed at delayed bilateral teleoperation of a manipulator robot, the ultimate goal of which is to obtain simultaneous coordination of force and position between the haptic device and the robot. The proposed controller changes the damping based on both the time delay and feedback power signal measured online. Unlike other P+d+f strategies, this proposal avoids terms with discontinuities in the controller, cancellation of human and environment forces and also prevents the explicit use of environment parameters. The proposal uses variable damping dependent on a feedback power signal, which reduces kinetic energy to ensure bounded control errors. Simulations are performed to verify that dual coordination is achieved without using explicit nonlinear damping in the controller or needing the parametric knowledge of the environment model, which is useful to apply the controller to most commercial manipulator robots.
针对机械臂机器人的延迟双侧遥操作，设计并分析了一种P+d+f (Proportional, Derivative, and Force)变量控制策略，其最终目标是实现触觉装置与机器人之间的力和位置同时协调。该控制器根据在线测量的时间延迟和反馈功率信号来改变阻尼。与其他P+d+f策略不同，该建议避免了控制器中的不连续项，消除了人为和环境力量，也避免了环境参数的明确使用。该方案使用依赖于反馈功率信号的可变阻尼，从而减少动能以确保有界控制误差。通过仿真验证了该控制器在不使用显式非线性阻尼或不需要环境模型参数化知识的情况下实现了双协调，这有助于将该控制器应用于大多数商用机械臂机器人。
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Pub Date : 2023-09-19DOI: 10.1007/s40435-023-01303-5
Besma Chettouh, Tidjani Menacer
{"title":"Effect of fractional order on the stability and the localisation of the critical Hopf bifurcation value in a fractional chaotic system","authors":"Besma Chettouh, Tidjani Menacer","doi":"10.1007/s40435-023-01303-5","DOIUrl":"https://doi.org/10.1007/s40435-023-01303-5","url":null,"abstract":"","PeriodicalId":37878,"journal":{"name":"International Journal of Dynamics and Control","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135061303","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 : 2023-09-14DOI: 10.1007/s40435-023-01290-7
Vikas Patel, V. K. Giri, Awadhesh Kumar
{"title":"Fractional-order adaptive sliding mode control with disturbance observer for frequency regulation in isolated microgrid","authors":"Vikas Patel, V. K. Giri, Awadhesh Kumar","doi":"10.1007/s40435-023-01290-7","DOIUrl":"https://doi.org/10.1007/s40435-023-01290-7","url":null,"abstract":"","PeriodicalId":37878,"journal":{"name":"International Journal of Dynamics and Control","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135490429","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 : 2023-09-14DOI: 10.1007/s40435-023-01291-6
C. S. Sridevi, Mabel L. Rajendran, M. Suvinthra
{"title":"On fractional diffusion equation with noise perturbation","authors":"C. S. Sridevi, Mabel L. Rajendran, M. Suvinthra","doi":"10.1007/s40435-023-01291-6","DOIUrl":"https://doi.org/10.1007/s40435-023-01291-6","url":null,"abstract":"","PeriodicalId":37878,"journal":{"name":"International Journal of Dynamics and Control","volume":"214 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134912828","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 : 2023-09-14DOI: 10.1007/s40435-023-01293-4
Sagar R. Khirsariya, Snehal B. Rao, Gautam S. Hathiwala
{"title":"Investigation of fractional diabetes model involving glucose–insulin alliance scheme","authors":"Sagar R. Khirsariya, Snehal B. Rao, Gautam S. Hathiwala","doi":"10.1007/s40435-023-01293-4","DOIUrl":"https://doi.org/10.1007/s40435-023-01293-4","url":null,"abstract":"","PeriodicalId":37878,"journal":{"name":"International Journal of Dynamics and Control","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135489711","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 : 2023-09-13DOI: 10.1007/s40435-023-01300-8
Mohammed Nadjib Benamar, Mohammed Amine Ghezzar, Djillali Bouagada, Kamel Benyettou
{"title":"On the admissibility and robust stabilization of 2D singular continuous–discrete linear systems","authors":"Mohammed Nadjib Benamar, Mohammed Amine Ghezzar, Djillali Bouagada, Kamel Benyettou","doi":"10.1007/s40435-023-01300-8","DOIUrl":"https://doi.org/10.1007/s40435-023-01300-8","url":null,"abstract":"","PeriodicalId":37878,"journal":{"name":"International Journal of Dynamics and Control","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135734948","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 : 2023-09-12DOI: 10.1007/s40435-023-01297-0
Hossein Chehardoli
{"title":"Finite-time speed observer design for asymptotic consensus of bidirectional longitudinal automated vehicle groups in the presence of acceleration constraint","authors":"Hossein Chehardoli","doi":"10.1007/s40435-023-01297-0","DOIUrl":"https://doi.org/10.1007/s40435-023-01297-0","url":null,"abstract":"","PeriodicalId":37878,"journal":{"name":"International Journal of Dynamics and Control","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135826239","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 : 2023-09-05DOI: 10.1007/s40435-023-01295-2
Qiyao Zhang, Tianzhen Wang, Xiaoyuan Zhu
{"title":"Fixed-time extended disturbance observer-based switching control of quadrotor UAV under marine wind condition","authors":"Qiyao Zhang, Tianzhen Wang, Xiaoyuan Zhu","doi":"10.1007/s40435-023-01295-2","DOIUrl":"https://doi.org/10.1007/s40435-023-01295-2","url":null,"abstract":"","PeriodicalId":37878,"journal":{"name":"International Journal of Dynamics and Control","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45983592","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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