High Performance Adaptive Control Of Teleoperation Systems
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High Performance Adaptive Control Of Teleoperation Systems
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Author : Di-Hua Zhai
language : en
Publisher: CRC Press
Release Date : 2023-04-17
High Performance Adaptive Control Of Teleoperation Systems written by Di-Hua Zhai and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-04-17 with Technology & Engineering categories.
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.
A Stable And Transparent Framework For Adaptive Shared Control Of Robots
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Author : Ribin Balachandran
language : en
Publisher: Springer Nature
Release Date : 2024-01-29
A Stable And Transparent Framework For Adaptive Shared Control Of Robots written by Ribin Balachandran and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-01-29 with Technology & Engineering categories.
Robotic research and developments in computing technologies including artificial intelligence have led to significant improvements in autonomous capabilities of robots. Yet, human supervision is advisable and, in many cases, necessary when robots interact with real-world, outside-lab environments. This is due to the fact that complete autonomy in robots has not yet been achieved. When robots encounter challenges beyond their capabilities, a viable solution is to include human operators in the loop, who can support robots through teleoperation, taking complete control or shared control. This monograph focuses on a special form of shared control, namely mixed-initiative, where the final command to the robot is a weighted sum of the commands from the operator and the autonomous controller. The weights (fixed or adaptive), called authority allocation (AA) factors, decide who has more control authority over the robot. Several research groups use different methods to adapt the AA factors online and the benefits of adaptive mixed-initiative shared control have been well established in terms of task completion success and operator usability. However, stability of the overall shared control framework, with communication time-delays between the operator and the robot, is a field that has not been examined extensively. This monograph presents methods to improve performance and stability in shared control so that the possibilities of its applications can be widened. Firstly, methods to improve the haptic feedback performance of teleoperation are developed. Secondly, methods to stabilize adaptive shared control systems, while still ensuring high teleoperation performance, are proposed. The methods are validated on multiple robotic systems and they were applied in several projects, both in space and terrestrial domains. With the aforementioned contributions, this monograph provides an overarching framework to improve synergy between humans and robots. The flexibility of the framework allows integration of existent teleoperation and shared control approaches, which further promotes synergy within the robotics community.
Adaptive Control Systems
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Author : Chalam
language : en
Publisher: Routledge
Release Date : 2017-10-19
Adaptive Control Systems written by Chalam and has been published by Routledge this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-10-19 with Technology & Engineering categories.
impossible to access. It has been widely scattered in papers, reports, and proceedings ofsymposia, with different authors employing different symbols and terms. But now thereis a book that covers all aspects of this dynamic topic in a systematic manner.Featuring consistent terminology and compatible notation, and emphasizing unifiedstrategies, Adaptive Control Systems provides a comprehensive, integrated accountof basic concepts, analytical tools, algorithms, and a wide variety of application trendsand techniques.Adaptive Control Systems deals not only with the two principal approachesmodelreference adaptive control and self-tuning regulators-but also considers otheradaptive strategies involving variable structure systems, reduced order schemes, predictivecontrol, fuzzy logic, and more. In addition, it highlights a large number of practical applicationsin a range of fields from electrical to biomedical and aerospace engineering ...and includes coverage of industrial robots.The book identifies current trends in the development of adaptive control systems ...delineates areas for further research . : . and provides an invaluable bibliography of over1,200 references to the literature.The first authoritative reference in this important area of work, Adaptive ControlSystems is an essential information source for electrical and electronics, R&D,chemical, mechanical, aerospace, biomedical, metallurgical, marine, transportation, andpower plant engineers. It is also useful as a text in professional society seminars and inhousetraining programs for personnel involved with the control of complex systems, andfor graduate students engaged in the study of adaptive control systems.
Analysis And Design For Networked Teleoperation System
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Author : Changchun Hua
language : en
Publisher: Springer
Release Date : 2019-05-24
Analysis And Design For Networked Teleoperation System written by Changchun Hua and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-05-24 with Technology & Engineering categories.
This book presents cutting-edge results on stability analysis and control scheme designs for networked teleoperation systems. It highlights new research on commonly encountered nonlinear teleoperation systems, including the stability analysis of teleoperation systems with asymmetric time-varying delays, stability analysis of teleoperation systems with interval time delays, and so on. Moreover, the book presents several high-performance control scheme designs for teleoperation systems when the velocity is available and unavailable, and for systems with nonlinear input. The results presented here mark a substantial contribution to nonlinear teleoperation system theory, robotic control theory and networked control system theory. As such, the book will be of interest to university researchers, R&D engineers and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of networked teleoperation systems, robotic systems and nonlinear control systems.
Applications Of Adaptive Control
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Author : Kumpati S. Narendra
language : en
Publisher: Elsevier
Release Date : 2012-12-02
Applications Of Adaptive Control written by Kumpati S. Narendra and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-02 with Technology & Engineering categories.
Control Applications of Adaptive covers the proceedings of the 197 Workshop on Applications of Adaptive Control, held in Yale University. This book is organized into five parts encompassing 18 chapters that summarize the potential application of adaptive control to many practical problems. Part I contains tutorials that bring together important result s in two of the most studied approaches to adaptive control, namely, self-tuning regulators and model reference adaptive control (MRAC), with a particular emphasis on the importance of error models in the stability analysis of MRAC. Part II examines the algorithms used for adaptive signal processing, while Part III describes the types of power systems problems that could benefit from application of adaptive control and how to apply adaptive control algorithms for controlling large electric generators. Part IV highlights adaptive control in aircraft systems. This part also considers how adaptive control fell into disfavor in the flight control community, illustrating the existence of residual negative bias. The desirability of cost elimination of air data sensors in less-sophisticated flight control systems is also discussed. Part V addresses the application of process control to chemical processes and to electromechanical systems. This part also shows the robustness and superior tracking and regulation properties of model reference adaptive control applied to liquid level control. Discussion on various classes of model reference adaptive controllers in a common framework from the viewpoint of microcomputer implementation is also included. This book will be of value to control system theorists and practitioners.
Adaptive Control Systems
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Author :
language : en
Publisher:
Release Date : 1961
Adaptive Control Systems written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1961 with categories.
A Feasibility Study Of Self Learning Adaptive Flight Control For High Performance Aircraft
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Author : Stephen G. Hoppe
language : en
Publisher:
Release Date : 1967
A Feasibility Study Of Self Learning Adaptive Flight Control For High Performance Aircraft written by Stephen G. Hoppe and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1967 with Automatic pilot (Airplanes) categories.
A study of the feasibility of a self-learning adaptive system for the flight control of high performance aircraft has been performed. A flight control system was developed for the investigation of the stability augmentation of the longitudinal axis of the F101B aircraft using self-learning adaptive control. The learning adaptive controller developed employs a three-loop concept. The innermost loop comprises a linear feedback control system in which a set of control gains is adjusted by a second (adaptive) loop employing a parameter identifier and a trainable function generator (automation). The automation provides the correct values of feedback gain in response to patterns derived from the identified aircraft parameters. The third loop (the learning loop) measures control system performance, and continually retrains the automation to improve the performance. Experiments were performed with a digital simulation of the aircraft and the learning adaptive control system. Results of the experiments indicate that learning adaptive control is feasible. However, a number of significant technical problems must be overcome prior to the use of such a control system in tactical aircraft. Studies of sensitivity must be performed to assess the effect of small perturbations in the identification parameters on system performance. Extended studies of property extraction from the identified parameters is required, and means for further simplifying the control structure is of importance in a real system. (Author).
Adaptive Control Systems
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Author : Chalam
language : en
Publisher: CRC Press
Release Date : 1987-04-29
Adaptive Control Systems written by Chalam and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 1987-04-29 with Technology & Engineering categories.
Scientific And Technical Aerospace Reports
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Author :
language : en
Publisher:
Release Date : 1990
Scientific And Technical Aerospace Reports written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1990 with Aeronautics categories.
Adaptive Control
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Author : Dianwei Qian
language : en
Publisher:
Release Date : 2018-03
Adaptive Control written by Dianwei Qian and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-03 with Adaptive control systems categories.
Adaptive control is the control method used by a controller which must adapt to a controlled system with parameters which vary, or are initially uncertain. An adaptive control system utilizes on-line identification of which either system parameter or controller parameter, which does not need a priori information about the bounds on these uncertain or time-varying parameters. These approaches consider their control design in the sense of Lyapunov. Besides, there are still some branches by combining adaptive control and other control methods, i.e., nonlinear control methods, intelligent control methods, and predict control methods, to name but a few. Addresses some original contributions reporting the latest advances in adaptive control. It aims to gather the latest research on state-of-the-art methods, applications and research for the adaptive control theory, and recent new findings obtained by the technique of adaptive control. Apparently, the book cannot include all research topics. Different aspects of adaptive control are explored. Chapters includes some new tendencies and developments in research on a adaptive formation controller for multi-robot systems; L1 adaptive control design of the the longitudinal dynamics of a hypersonic vehicle model; adaptive high-gain control of biologically inspired receptor systems; adaptive residual vibration suppression of sigid-flexible coupled systems; neuro-hierarchical sliding mode control for under-actuated mechanical systems; neural network adaptive PID control design based on PLC for a water-level system; and fuzzy-based design of networked control systems with random time delays and packet dropout in the forward communication channel--