Passivity-based control for networked robotic system over unreliable communication

Yen Chen Liu, Seng Ming Puah

研究成果: Conference article

2 引文 斯高帕斯(Scopus)

摘要

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.

原文English
文章編號6907090
頁(從 - 到)1769-1774
頁數6
期刊Proceedings - IEEE International Conference on Robotics and Automation
DOIs
出版狀態Published - 2014 九月 22
事件2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
持續時間: 2014 五月 312014 六月 7

All Science Journal Classification (ASJC) codes

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

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