Passivity-based control for networked robotic system over unreliable communication

Yen Chen Liu, Seng Ming Puah

Research output: Contribution to journalConference article

2 Citations (Scopus)

Abstract

This paper presents a control algorithm to guarantee stability and regulation performance for networked robotic systems with communication delay and packet loss. A local controller is developed to transform the robot dynamics so that the robot is passive with respect to an output signal containing position and velocity information. With the utilization of scattering transformation and a passive remote controller (for position regulation), the interconnected robotic system is passive and stable under time delay. Subsequently, we develop a packet management, called Wave-Variable Modulation (WVM), to deal with the proposed networked robotic system under packet loss. The passivity of the communication network can be preserved, and the performance of position regulation is guaranteed by using WVM. Simulations are presented to demonstrate the performance of the proposed control architecture.

Original languageEnglish
Article number6907090
Pages (from-to)1769-1774
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
DOIs
Publication statusPublished - 2014 Sep 22
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 2014 May 312014 Jun 7

Fingerprint

Robotics
Packet loss
Communication
Modulation
Robots
Controllers
Telecommunication networks
Time delay
Scattering

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

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Passivity-based control for networked robotic system over unreliable communication. / Liu, Yen Chen; Puah, Seng Ming.

In: Proceedings - IEEE International Conference on Robotics and Automation, 22.09.2014, p. 1769-1774.

Research output: Contribution to journalConference article

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