相关论文: Passive Stability and Adaptive Control of Teleoper…

Time delays in communication channels present significant challenges for bilateral teleoperation systems, affecting both transparency and stability. Although traditional wave variable-based methods for a four-channel architecture ensure…

We study stability of interacting nonlinear systems with time-delayed communications, using contraction theory and a simplified wave variable design inspired by robotic teleoperation. We show that contraction is preserved through specific…

This paper addresses the stabilization control problem for networked mobile robot subject to communication delay. A new state estimation filter namely past observation-based predictive filter is developed. This filter enables the prediction…

This paper introduces a novel stabilization control strategy for linear time-invariant systems affected by known time-varying measurement delays and matched unknown nonlinear disturbances, which may encompass actuator faults. It is…

Discrete-time systems under aperiodic sampling may serve as a modeling abstraction for a multitude of problems arising in cyber-physical and networked control systems. Recently, model- and data-based stability conditions for such systems…

Filtered Smith predictors are well established for controlling linear plants with constant time delays. Apart from this classical application scenario, they are also employed within networked control loops, where the measurements are sent…

An analytical expression is given for the minimum of the time-delay induced wavefront error (also known as the servo-lag error) in Adaptive Optics systems under temporal prediction filtering. The analysis is based on the von K\'arm\'an…

This paper presents a globally stable teleoperation control strategy for systems with time-varying delays that eliminates the need for velocity measurements through novel augmented Immersion and Invariance velocity observers. The new…

For high contrast imaging systems, the time delay is one of the major limiting factors for the performance of the extreme adaptive optics (AO) sub-system and, in turn, the final contrast. The time delay is due to the finite time needed to…

We consider state-feedback predictor-based control of networked control systems with large time-varying communication delays. We show that even a small controller-to-actuators delay uncertainty may lead to a non-small residual error in a…

The paper presents a new control algorithm for unstable linear systems with input delay. In comparison with known analogues, the control law has been designed, which is a modification of the Smith predictor, and is the simplest one to…

We demonstrate that time-delayed feedback control can be improved by adaptively tuning the feedback gain. This adaptive controller is applied to the stabilization of an unstable fixed point and an unstable periodic orbit embedded in a…

A networked output feedback loop subject to packetized transmissions of the output signal is considered. Based on the small gain theorem, an easy-to-use stability criterion covering two important cases is presented. In the first case a…

Time delay based control, recently proposed for non-collocated fourth-order systems, has several advantages over an observer-based state-feedback compensation of the low-damped oscillations in output. In this paper, we discuss a practical…

We show that time-delayed feedback methods, which have successfully been used to control unstable periodic ortbits, provide a tool to stabilize unstable steady states. We present an analytical investigation of the feedback scheme using the…

Composite adaptive control schemes, which use both the system tracking errors and the prediction error to drive the update laws, have become widespread in achieving an improvement of system performance. However, a strong…

Absolute stability of discrete-time teleoperation systems can be jeopardized by choosing inappropriate sampling time architecture. A modified structure is presented for the bilateral teleoperation system including continuous-time slave…

This paper investigates the effect of constant time delay in weakly connected multi-agent systems modeled by double integrator dynamics. A novel analytical approach is proposed to establish an upper bound on the permissible time delay that…

We present an event-triggered control strategy for stabilizing a scalar, continuous-time, time-invariant, linear system over a digital communication channel having bounded delay, and in the presence of bounded system disturbance. We propose…

In the same way that subsequent pauses in spoken language are used to convey information, it is also possible to transmit information in communication networks not only by message content, but also with its timing. This paper presents an…