Feedback optimization problem for master-slave teleoperation tracking in the presence of random noise in dynamics and feedback

DOI10.1007/S11071-016-2908-9MaRDI QIDQ345879zbMATH OpenOpenAlexFDO

Authors Harish Parthasarathy, Vijyant Agarwal, Rohit Rana, Rohit K. Singla

Publication date 2 December 2016

Published in Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11071-016-2908-9

zbMATH Keywords

Levy processesnorm inequalitiesPHANToM Omniaverage tracking error energy optimizationfeedback fluctuationsinfinite-dimensional SDEsmaster-slave teleoperation (TOP)sampled error feedback

Mathematics Subject Classification ID

Feedback control (93B52) Stochastic systems in control theory (general) (93E03) Control/observation systems involving computers (process control, etc.) (93C83)

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• Stabilization of bilateral teleoperators with asymmetric stochastic delay
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• Nonlinear adaptive control for teleoperation systems with symmetrical and unsymmetrical time-varying delay

Cites work

• Adaptive sliding mode controller design for nonlinear teleoperation systems using singular perturbation method
• Extended-state-observer-based finite-time synchronization control design of teleoperation with experimental validation
• Lévy Processes and Stochastic Calculus
• Multiplicity of solutions for a fractional Kirchhoff type problem
• Nonlinear control for teleoperation systems with time varying delay
• Perturbation theory for linear operators.
• State feedback control law for a class of nonlinear time-varying system under unknown time-varying delay
• Statistical analysis of tracking and parametric estimation errors in a 2-link robot based on Lyapunov function
• Swarm-based structure-specified controller design for bilateral transparent teleoperation systems via   synthesis

Cited in

(3)

• Classical robots perturbed by Lévy processes: analysis and Lévy disturbance rejection methods
• Inverse optimal control of stochastic systems driven by Lévy processes
• Stochastic control of drill-heads driven by Lévy processes

Describes a project that uses

Uses Software

• PHANSIM
• OpenHaptics

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