Scholarly Publications - Mechanical Engineering

Permanent URI for this collectionhttps://hdl.handle.net/11693/115626

Browse

Browsing Scholarly Publications - Mechanical Engineering by Author "Abidi K."

Filter results by typing the first few letters
Now showing 1 - 2 of 2
  • Thumbnail Image
    ItemOpen Access
    Control of uncertain sampled-data systems: An Adaptive posicast control approach
    (Institute of Electrical and Electronics Engineers Inc., 2017) Abidi K.; Yildiz, Y.; Annaswamy A.
    This technical note proposes a discrete-time adaptive controller for the control of sampled-data systems. The design is inspired from the Adaptive Posicast Controller (APC) which was designed for time-delay systems in continuous time. Due to the performance degradation caused by digital approximation of continuous laws, together with the problem of assuming time-delays as integer multiples of sampling intervals, the benefits of APC could not be fully realized. In this technical note, these approximations/assumptions are eliminated. In addition, a disturbance observer is incorporated into the controller design which minimizes the effect of disturbances on the system. Extension to the case of uncertain input time-delay is also presented. The proposed approach is verified in simulation studies. © 1963-2012 IEEE.
  • Thumbnail Image
    ItemOpen Access
    Explicit time-delay compensation in teleoperation: an adaptive control approach
    (John Wiley and Sons Ltd, 2016) Abidi K.; Yildiz, Y.; Korpe, B. E.
    This paper proposes a control framework that addresses the destabilizing effect of communication time delays and system uncertainties in telerobotics, in the presence of force feedback. Force feedback is necessary to obtain transparency, which is providing the human operator as close a feel as possible of the environment where the slave robot is operating. Achieving stability and providing transparency are conflicting goals. This is the major reason why, currently, a very few, if at all, fully operational force feedback teleoperation devices exist except for research environments. The proposed framework handles system uncertainty with adaptation and communication time delays with explicit delay compensation. The technology that allows this explicit adaptive time-delay compensation is inspired by Massachusetts Institute of Technology (MIT)'s Adaptive Posicast Controller. We provide simulation results that demonstrate stable explicit adaptive delay compensation in a force-reflecting teleoperation set up. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.