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- 저자 : Mohammad Hadi Sarajchi (검색결과 2 건)
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Mohammad Hadi Sarajchi,Soheil Ganjefar,Seyed Mahmoud Hoseini,Zhufeng Shao 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.6
This study develops an approach of controller design, on the basis of Lambert W function structure for Internet-based bilateral teleoperation systems. Actually, time-delay terms in bilateral teleoperation systems lead to an infinite number of characteristic equation roots making difficulty in analysis of systems by classical methods. As delay differential equations (DDEs) have infinite eigenspectrums, all closed-loop eigenvalues are not feasible to locate in desired positions by using classical control methods. Therefore, this study suggests a new feedback controller for assignment of eigenvalues, in compliance with Lambert W function. In this regard, an adaptive controller is accurately employed in order to provide the controller with updated predicted time-delay and robust the system against the time-delay. This novel control approach causes the rightmost eigenvalues to locate exactly in desired positions in the stable left hand of the imaginary axis. The simulation results show strong and robust closed-loop performance and better tracking in constant and time-varying delay.
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Lambert W Function Controller Design for Teleoperation Systems
Soheil Ganjefar,Mohammad Hadi Sarajchi,Seyed Mahmoud Hoseini,Zhufeng Shao 한국정밀공학회 2019 International Journal of Precision Engineering and Vol.20 No.1
Stability and transparency play key roles in a bilateral teleoperation system with communication latency. This study developed a new method of controller design, based on the Lambert W function for the bilateral teleoperation through the Internet. In spite of the time-delay in the communication channel, system disturbance, and modeling errors, this approach causes the slave manipulator tracks the master appropriately. Time-delay terms in the bilateral teleoperation systems result in an infinite number of characteristic equation roots making difficulty in the analysis of systems by traditional strategies. As delay differential equations have infinite eigenspectrums, it is not possible to locate all closed-loop eigenvalue in desired positions by using classical control methods. Therefore, this study suggested a new feedback controller for assignment of eigenvalues, in compliance with Lambert W function. Lambert W function causes the rightmost eigenvalues to locate exactly in desired possible positions in the stable left hand of the imaginary axis. This control method led to a reduction in the undesirable effect of time-delay on the communication channel. The simulation results showed great closed-loop performance and better tracking in case of different time-delay types.
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