{"title":"Minimal operation region prediction for networked control robotic manipulators subject to time-varying delays and disturbances","authors":"Van Thanh Huynh, Chee Peng Lim, Zoran Najdovski, Dinh Cong Huong, Hieu Trinh","doi":"10.1049/cth2.12650","DOIUrl":null,"url":null,"abstract":"<p>Due to the disturbances and varying latency, a teleoperated robotic manipulator might not comply with the master control commands. Although prior studies on minimising the impact of network latency and disturbances on teleoperated robots were conducted, there has been very little research on the prediction of minimal operation regions of robotic arms, especially in the worst-case scenarios when the disturbances and time delays still prevail even after impact minimisation. This study investigates the problem and proposes a novel solution to predicting minimal operation regions of networked control robotic manipulators. The proposed method can be used to forecast safe operation regions in which the manipulators will certainly enter and exclude regions that the robots will never penetrate. Leveraging on a Lyanonov Krasovskii criterion, the method performs region prediction by establishing minimal reachable bounding sets of the nonlinear, perturbed robotic arm's state vectors guided via a time-varying delay-dominant network. Though predominantly nonlinear, the entire prediction process is formulated as a tractable Linear Matrix Inequality (LMI) optimisation problem, which can be solved efficiently and effectively. Efficacy of the proposed method is validated with simulations where a simulated robotic arm is distorted with time-varying delays and disturbances.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.2000,"publicationDate":"2024-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12650","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IET Control Theory and Applications","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1049/cth2.12650","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
Due to the disturbances and varying latency, a teleoperated robotic manipulator might not comply with the master control commands. Although prior studies on minimising the impact of network latency and disturbances on teleoperated robots were conducted, there has been very little research on the prediction of minimal operation regions of robotic arms, especially in the worst-case scenarios when the disturbances and time delays still prevail even after impact minimisation. This study investigates the problem and proposes a novel solution to predicting minimal operation regions of networked control robotic manipulators. The proposed method can be used to forecast safe operation regions in which the manipulators will certainly enter and exclude regions that the robots will never penetrate. Leveraging on a Lyanonov Krasovskii criterion, the method performs region prediction by establishing minimal reachable bounding sets of the nonlinear, perturbed robotic arm's state vectors guided via a time-varying delay-dominant network. Though predominantly nonlinear, the entire prediction process is formulated as a tractable Linear Matrix Inequality (LMI) optimisation problem, which can be solved efficiently and effectively. Efficacy of the proposed method is validated with simulations where a simulated robotic arm is distorted with time-varying delays and disturbances.
期刊介绍:
IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces.
Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed.
Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.