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Novel Multilateral Teleoperation And Cooperative Control Approaches For Multiple Manipulators
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Book Synopsis NOVEL MULTILATERAL TELEOPERATION AND COOPERATIVE CONTROL APPROACHES FOR MULTIPLE MANIPULATORS. by : Usman Ahmad
Download or read book NOVEL MULTILATERAL TELEOPERATION AND COOPERATIVE CONTROL APPROACHES FOR MULTIPLE MANIPULATORS. written by Usman Ahmad and published by . This book was released on 2018 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Teleoperation of robotic manipulators has been one of the popular research areas in the robotics research community for last couple of decades. A variety of control methods have been proposed for bilateral and multilateral teleoperation of robotic manipulators. Although a lot of research has been carried out on teleoperation control, some of the aspects of these systems are still unexplored. For example, most of the control schemes for teleoperation systems focus only on the compensation of time delays while there exist other performance metrics for these systems such as better transparency, optimal force distribution and authority adjustment in cooperative applications. Additionally, some of the control schemes lack to provide the guaranteed stability of the teleoperation system. This research works aims to propose novel teleoperation and cooperative control schemes for fixed-base and mobile manipulators. This research work can be divided into two main parts. The first part of this thesis is focused on the development of a Time Domain Passivity Control (TDPC) scheme which ensures the stability of the multilateral teleoperation system under constant and varying time delays. The proposed control framework not only avoids the zero division problem of the control laws of traditional TDPC but also provides a novel communication channel architecture to assign weights to master and slave robots to cooperatively execute the task. Simulation and experimental results validate the efficacy of the proposed TDPC scheme for the multilateral teleoperation of fixed-base robotic manipulators. The second part is focused on the cooperative and teleoperation control of mobile manipulators. A couple of novel cooperative control schemes have been proposed for the cooperative control of mobile manipulators to manipulate a common object attached to the end-effectors. An adaptive robust teleoperation control scheme has also been proposed with the control objectives of guaranteed stability, synchronization and internal force distribution. Simulation results validate the efficacy of the proposed schemes for the cooperative control and teleoperation of mobile manipulators.
Book Synopsis Intelligent Networked Teleoperation Control by : Zhijun Li
Download or read book Intelligent Networked Teleoperation Control written by Zhijun Li and published by Springer. This book was released on 2015-05-15 with total page 289 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes a unified framework for networked teleoperation systems involving multiple research fields: networked control systems for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation and cooperative teleoperation. It closely examines networked control as a field at the intersection of systems & control and robotics and presents a number of experimental case studies on testbeds for robotic systems, including networked haptic devices, robotic network systems and sensor network systems. The concepts and results outlined are easy to understand, even for readers fairly new to the subject. As such, the book offers a valuable reference work for researchers and engineers in the fields of systems & control and robotics.
Book Synopsis Distributed Cooperative Control and Communication for Multi-agent Systems by : Dong Yue
Download or read book Distributed Cooperative Control and Communication for Multi-agent Systems written by Dong Yue and published by Springer Nature. This book was released on 2021-02-15 with total page 196 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book investigates distributed cooperative control and communication of MASs including linear systems, nonlinear systems and multiple rigid body systems. The model-based and data-driven control method are employed to design the (optimal) cooperative control protocol. The approaches of this book consist of model-based and data-driven control such as predictive control, event-triggered control, optimal control, adaptive dynamic programming, etc. From this book, readers can learn about distributed cooperative control methods, data-driven control, finite-time stability analysis, cooperative attitude control of multiple rigid bodies. Some fundamental knowledge prepared to read this book is finite-time stability theory, event-triggered sampling mechanism, adaptive dynamic programming and optimal control.
Book Synopsis High-Performance Adaptive Control of Teleoperation Systems by : Di-Hua Zhai
Download or read book High-Performance Adaptive Control of Teleoperation Systems written by Di-Hua Zhai and published by CRC Press. This book was released on 2023-04-17 with total page 314 pages. Available in PDF, EPUB and Kindle. Book excerpt: Within a unified switched-control framework, this book investigates the high-performance control designs and theoretic analyses for teleoperation systems, including the joint space and task space teleoperations, the homogeneous and heterogeneous teleoperations, and the single-master single-slave and multi-master multi-slave teleoperations. The book begins with an introduction to the concepts and challenges of networked teleoperation systems. Then, it investigates a new adaptive control framework based on auxiliary switched filters for the bilateral teleoperation systems to handle the model uncertainty and non-passive external forces. To overcome the input constraints of robotic systems, this adaptive method is also extended to the anti-windup adaptive control case. Furthermore, to apply to multi-robot remote collaboration scenarios and heterogeneous teleoperations, two tele-coordination methods and an adaptive semi-autonomous control method are respectively developed. Finally, the authors examine two finite-time control schemes and two types of improved prescribed performance controls for teleoperation systems to improve the transient-state and steady-state synchronization performances. This title will be an essential reference for researchers and engineers interested in teleoperation, robotic systems, and nonlinear control systems. It would also prove useful to graduate students in the fields of science, engineering, and computer science.
Book Synopsis Consensus Control in Robot Networks and Cooperative Teleoperation : an Operational Space Approach by : Carlos Iván Aldana López
Download or read book Consensus Control in Robot Networks and Cooperative Teleoperation : an Operational Space Approach written by Carlos Iván Aldana López and published by . This book was released on 2015 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt: An interesting approach in cooperative control is to design distributed control strategies which use only local information so that a multi-agent system achieves specified behaviors. A basic behavior in cooperative control is the consensus. Given a multi-agent system, like a multiple robot network, it is said that the agents reach a consensus if the state of each agent converges to a common state. Examples of cooperative tasks in which consensus algorithms are employed include formation control, flocking theory, rendezvous problems and synchronization. These cooperative tasks have several possible applications, like: transportation systems (intelligent highways, air-traffic control); military systems (formation flight, surveillance, reconnaissance, cooperative attack and rendezvous) and mobile sensor networks (space-based interferometers, environmental sampling). The solution to the consensus problems involves the design of control algorithms such that the agents can reach an agreement on their states. There are two main problems that are studied in consensus, the leader-follower consensus and the leaderless consensus. In the leader-follower consensus problem, there exists a leader that specifies the state for the whole group while in a leaderless consensus problem, there is not a priori reference state. The main goal of this thesis is the design of operational space controllers that solve the leader-follower and the leaderless consensus problems in networks composed of multiple heterogeneous robots. Furthermore, this document proposes novel operational space control schemes for bilateral teleoperation systems. In both scenarios, different conditions are studied, such as the absence of robot velocity measurements, constant and variable time-delays in the robot's interconnection, and uncertainty in the robot's physical parameters. Most of the previous consensus control algorithms, only work with the position or orientation but not with both. On the contrary, this dissertation deals with the entire pose of the robots that contains both the position and the orientation. Moreover, in order to render a singularity-free description of the orientation, the unit-quaternions are employed. The dissertation provides a rigorous stability analysis of the control algorithms and presents simulations and experiments that validate the effectiveness of the proposed controllers.
Book Synopsis Cooperative Control of Multi-Agent Systems by : Zhongkui Li
Download or read book Cooperative Control of Multi-Agent Systems written by Zhongkui Li and published by CRC Press. This book was released on 2017-12-19 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: Distributed controller design is generally a challenging task, especially for multi-agent systems with complex dynamics, due to the interconnected effect of the agent dynamics, the interaction graph among agents, and the cooperative control laws. Cooperative Control of Multi-Agent Systems: A Consensus Region Approach offers a systematic framework for designing distributed controllers for multi-agent systems with general linear agent dynamics, linear agent dynamics with uncertainties, and Lipschitz nonlinear agent dynamics. Beginning with an introduction to cooperative control and graph theory, this monograph: Explores the consensus control problem for continuous-time and discrete-time linear multi-agent systems Studies the H∞ and H2 consensus problems for linear multi-agent systems subject to external disturbances Designs distributed adaptive consensus protocols for continuous-time linear multi-agent systems Considers the distributed tracking control problem for linear multi-agent systems with a leader of nonzero control input Examines the distributed containment control problem for the case with multiple leaders Covers the robust cooperative control problem for multi-agent systems with linear nominal agent dynamics subject to heterogeneous matching uncertainties Discusses the global consensus problem for Lipschitz nonlinear multi-agent systems Cooperative Control of Multi-Agent Systems: A Consensus Region Approach provides a novel approach to designing distributed cooperative protocols for multi-agent systems with complex dynamics. The proposed consensus region decouples the design of the feedback gain matrices of the cooperative protocols from the communication graph and serves as a measure for the robustness of the protocols to variations of the communication graph. By exploiting the decoupling feature, adaptive cooperative protocols are presented that can be designed and implemented in a fully distributed fashion.
Book Synopsis Fixed-Time Cooperative Control of Multi-Agent Systems by : Zongyu Zuo
Download or read book Fixed-Time Cooperative Control of Multi-Agent Systems written by Zongyu Zuo and published by Springer. This book was released on 2020-08-14 with total page 153 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph presents new theories and methods for fixed-time cooperative control of multi-agent systems. Fundamental concepts of fixed-time stability and stabilization are introduced with insightful understanding. This book presents solutions for several problems of fixed-time cooperative control using systematic design methods. The book compares fixed-time cooperative control with asymptotic cooperative control, demonstrating how the former can achieve better closed-loop performance and disturbance rejection properties. It also discusses the differences from finite-time control, and shows how fixed-time cooperative control can produce the faster rate of convergence and provide an explicit estimate of the settling time independent of initial conditions. This monograph presents multiple applications of fixed-time control schemes, including to distributed optimization of multi-agent systems, making it useful to students, researchers and engineers alike.
Book Synopsis Networked Multi-Manipulator System and Its Teleoperation Using Adaptive Non-Singular Terminal Sliding Mode Control by : Henghua Shen
Download or read book Networked Multi-Manipulator System and Its Teleoperation Using Adaptive Non-Singular Terminal Sliding Mode Control written by Henghua Shen and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Teleoperation of multiple robot manipulators has been one of the most popular research areas in the robotics research community for the last couple of decades. Such complex systems can be decoupled into two subsystems, namely, multi-agent systems (MASs) and teleoperation systems. In addition to the high nonlinearity of the networked multi-manipulator systems, deleterious effects, caused by network-induced constraints and the lack of exact robot modelling information, can make the control systems' desired performance and stability difficult to achieve. To meet these challenges, concepts from the non-singular terminal sliding mode (NTSM) control method are developed to achieve the exogenous disturbance rejection and the finite-time full-pose synchronization. Additionally, a new adaptive NTSM (ANTSM) scheme is designed for multi-manipulator systems where the models may be initially uncertain or slowly varying over time. To further improve the performance, a set of novel techniques are developed, including the use of novel mixed-type feedback, time-varying logistic-function-based control gain, and energy-index-based neighbour selection policy. The proposed ANTSM approach has also successfully been applied to the teleoperation control systems. In addition, the master manipulator uses a force predictor to estimate the real-time environmental force on the slave side so that the direct transmission of the force signals is avoided. The proposed approaches for the MASs and teleoperation subsystems are integrated into a single-master-multiple-slave manipulator system. Simulation and experimental results validate the efficacy of the proposed schemes.
Book Synopsis Cooperative Control of Multi-Agent Systems by : Guanglei Zhao
Download or read book Cooperative Control of Multi-Agent Systems written by Guanglei Zhao and published by Springer. This book was released on 2024-05-02 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on stability analysis and control design approaches for multi-agent systems under network-induced constraints. A hybrid system approach is introduced to address the cooperative control problem of networked multi-agent systems, and several important topics such as asynchronous sampled data cooperative control, hybrid event-triggered cooperative control, and reset-based cooperative control are studied under the hybrid system framework. The special feature of this book is that a hybrid systems approach is proposed for the cooperative control of multi-agent systems, which is beneficial for relaxing the conservativeness of stability analysis and network parameter computation. Interested readers can learn a novel approach to cooperative control of multi-agent systems, and this book can benefit researchers, engineers, and graduate students in the fields of multi-robot cooperation, unmanned aerial vehicle formation, control engineering, etc.
Book Synopsis Adaptive Coordinated Cooperative Control of Multi-Mobile Manipulators by : Víctor H. Andaluz
Download or read book Adaptive Coordinated Cooperative Control of Multi-Mobile Manipulators written by Víctor H. Andaluz and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Adaptive Coordinated Cooperative Control of Multi-Mobile Manipulators.
Book Synopsis Novel Tele-operation of Mobile-manipulator Systems by : Michael C. Frejek
Download or read book Novel Tele-operation of Mobile-manipulator Systems written by Michael C. Frejek and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Novel Tele-operation of Mobile-manipulator Systems by :
Download or read book Novel Tele-operation of Mobile-manipulator Systems written by and published by . This book was released on 2008 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: A novel algorithm for the simplified tele-operation of mobile-manipulator systems is presented. The algorithm allows for unified, intuitive, and coordinated control of mobile manipulators, systems comprised of a robotic arm mounted on a mobile base. Unlike other approaches, the mobile-manipulator system is modeled and controlled as two separate entities rather than as a whole. The algorithm consists of thee states. In the rst state a 6-DOF (degree-of-freedom) joystick is used to freely control the manipulator's position and orientation. The second state occurs when the manipulator approaches a singular configuration, a con guration where the arm instantaneously loses a DOF of motion capability. This state causes the mobile base to proceed in such a way as to keep the end-effector moving in its last direction of motion. This is done through the use of a constrained optimization routine. The third state is triggered by the user: once the end-effector is in the desired position, the mobile base and manipulator both move with respect to one another keeping the end-effector stationary and placing the manipulator into an ideal configuration. The proposed algorithm avoids the problems of algorithmic singularities and simplifies the control approach. The algorithm has been implemented on the Jasper Mobile-Manipulator System. Test results show that the developed algorithm is effective at moving the system in an intuitive manner.
Book Synopsis Cooperative Control of Multi-Agent Systems by : Frank L. Lewis
Download or read book Cooperative Control of Multi-Agent Systems written by Frank L. Lewis and published by Springer. This book was released on 2016-08-23 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cooperative Control of Multi-Agent Systems extends optimal control and adaptive control design methods to multi-agent systems on communication graphs. It develops Riccati design techniques for general linear dynamics for cooperative state feedback design, cooperative observer design, and cooperative dynamic output feedback design. Both continuous-time and discrete-time dynamical multi-agent systems are treated. Optimal cooperative control is introduced and neural adaptive design techniques for multi-agent nonlinear systems with unknown dynamics, which are rarely treated in literature are developed. Results spanning systems with first-, second- and on up to general high-order nonlinear dynamics are presented. Each control methodology proposed is developed by rigorous proofs. All algorithms are justified by simulation examples. The text is self-contained and will serve as an excellent comprehensive source of information for researchers and graduate students working with multi-agent systems.
Book Synopsis Cooperative Control of Multi-agent Systems by : He Cai
Download or read book Cooperative Control of Multi-agent Systems written by He Cai and published by Springer. This book was released on 2022-07-19 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main focus of this book is a pair of cooperative control problems: consensus and cooperative output regulation. Its emphasis is on complex multi-agent systems characterized by strong nonlinearity, large uncertainty, heterogeneity, external disturbances and jointly connected switching communication topologies. The cooperative output regulation problem is a generalization of the classical output regulation problem to multi-agent systems and it offers a general framework for handling a variety of cooperative control problems such as consensus, formation, tracking and disturbance rejection. The book strikes a balance between rigorous mathematical proof and engineering practicality. Every design method is systematically presented together with illustrative examples and all the designs are validated by computer simulation. The methods presented are applied to several practical problems, among them the leader-following consensus problem of multiple Euler–Lagrange systems, attitude synchronization of multiple rigid-body systems, and power regulation of microgrids. The book gives a detailed exposition of two approaches to the design of distributed control laws for complex multi-agent systems—the distributed-observer and distributed-internal-model approaches. Mastering both will enhance a reader’s ability to deal with a variety of complex real-world problems. Cooperative Control of Multi-agent Systems can be used as a textbook for graduate students in engineering, sciences, and mathematics, and can also serve as a reference book for practitioners and theorists in both industry and academia. Some knowledge of the fundamentals of linear algebra, calculus, and linear systems are needed to gain maximum benefit from this book. Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.
Book Synopsis Towards Modular Cooperation Between Multiple Nonholonomic Mobile Manipulators by : Rajankumar M. Bhatt
Download or read book Towards Modular Cooperation Between Multiple Nonholonomic Mobile Manipulators written by Rajankumar M. Bhatt and published by . This book was released on 2007 with total page 158 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent times, there has been considerable interest in creating and deploying modular cooperating collectives of robots. Interest in such cooperative systems typically arises when certain tasks are either too complex to be performed by a single robot or when there are distinct benefits that accrue by cooperation of many simple robotic modules. In this dissertation, we examine these aspects in the context of cooperative payload manipulation and transport by wheeled mobile module collectives with tightly-coupled dynamics arising from the physical interactions between various modules.
Book Synopsis Safely Cooperative Planning and Control of Multi-robot Manipulators by : 鄒振宇
Download or read book Safely Cooperative Planning and Control of Multi-robot Manipulators written by 鄒振宇 and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Cooperative Position Control System Design for Two Robotic Manipulators by : Changhong Hu
Download or read book Cooperative Position Control System Design for Two Robotic Manipulators written by Changhong Hu and published by . This book was released on 1990 with total page 182 pages. Available in PDF, EPUB and Kindle. Book excerpt:
