The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 88-146
Full Name: PETER GALAMBOS
Position: Ph.D. Candidate
Age: ON
Sex: Male
Address: Budapest, Kende u. 13-17. H-1111
Country: HUNGARY
Tel: +36 1 279-6000 /72-13
Tel prefix:
Fax: +36 1 279-6218
E-mail address: galambos@sztaki.hu
Other E-mails: fletli@gmail.com
Title of the Paper: Extended TP Model Transformation for Polytopic Representation of Impedance Model with Feedback Delay
Authors as they appear in the Paper: Péter Galambos, Péter Baranyi, Péter Korondi
Email addresses of all the authors: galambos@sztaki.hu, baranyi@sztaki.hu, korondi@sztaki.hu
Number of paper pages: 10
Abstract: In force controlled industrial robots, haptic and telemanipulation devices stability and control performance are contradicting requirements. In distributed systems where the sensors, actuators and control logic are separated in space, due to the network delays the control process may become unstable. In our research, we consider the coupled impedance type control algorithms as common used method in telemanipulation and interaction control of robots. In this paper, an extended TP model transformation is proposed to convert the delayed system into a polytopic tensor product (TP) model considering the value of the feedback delay as a parameter. Using such model, controller design become tractable as it does not contain feedback delay. A numerical example for a single degree of freedom impedance model with feedback delay is discussed. The results are confirmed by simulation.
Keywords: Delayed systems, Feedback systems, Interaction control, Telemanipulation, Haptics, TP Model Transformation, qLPV model, Polytopic linear models
EXTENSION of the file: .pdf
Special (Invited) Session: Polytopic Representation of Impedance Model with Feedback Delay
Organizer of the Session: 645-435
How Did you learn about congress: Radu-Emil Precup: radu.precup@aut.upt.ro ; Ivan Petrović: ivan.petrovic@fer.hr; Prof. Yeung YAM : yyam@acae.cuhk.edu.hk
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