Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 4 of 4
Full-Text Articles in Entire DC Network
Bilateral Teleoperation Of Mobile Robot Over Delayed Communication Network: Implementation, Chaouki T. Abdallah, Oscar Martinez-Palafox, Dongjun Lee, Mark W. Spong, I. Lopez
Bilateral Teleoperation Of Mobile Robot Over Delayed Communication Network: Implementation, Chaouki T. Abdallah, Oscar Martinez-Palafox, Dongjun Lee, Mark W. Spong, I. Lopez
Electrical & Computer Engineering Faculty Publications
In a previous paper we proposed a bilateral teleoperation framework of a wheeled mobile robot over communication channel with constant time delay. In this paper we present experimental results. Our goal is to illustrate and validate the properties of the proposed scheme as well as to present practical implementation issues and the adopted solutions. In particular, the bilaterally teleoperated system is passive and the system is stable in the presence of time delay. Internet has been used as the communication channel and a buffer has been implemented to maintain a constant time delay and to handle packet order.
Practical Issues In Networked Control Systems, Chaouki T. Abdallah, Ivan Lopez, J. L. Piovesan, D. Lee, O. Martinez, M. Spong, R. Sandoval
Practical Issues In Networked Control Systems, Chaouki T. Abdallah, Ivan Lopez, J. L. Piovesan, D. Lee, O. Martinez, M. Spong, R. Sandoval
Electrical & Computer Engineering Faculty Publications
In this paper we expose experimental issues faced in a closed-loop networked control system. We also propose some compensation actions, and evaluate their performance for different experimental setups, focusing specifically on time delays.
Model-Based Networked Control For Finite-Time Stability Of Nonlinear Systems: The Deterministic Case, Chaouki T. Abdallah
Model-Based Networked Control For Finite-Time Stability Of Nonlinear Systems: The Deterministic Case, Chaouki T. Abdallah
Electrical & Computer Engineering Faculty Publications
In this paper we analyze model-based networked control systems for a discrete-time nonlinear plant model, operating in the presence of deterministic dropout of state observations. The dropout is modeled using communication network dynamics, and sufficient conditions for finite-time stability are provided. In a companion paper we model the dropout as a stochastic sequence.
Effects Of Quantization, Saturation, And Sampling Time In Multi Output Systems, Chaouki T. Abdallah, R. Sandoval-Rodriguez, R. H. Byrne
Effects Of Quantization, Saturation, And Sampling Time In Multi Output Systems, Chaouki T. Abdallah, R. Sandoval-Rodriguez, R. H. Byrne
Electrical & Computer Engineering Faculty Publications
We analyze the effects of sampling and quantization in the states of the plant, and the saturation of the control signal, on the behaviors of closed-loop systems. We present graphical and analytical tools to determine the minimum number of bits in the A/D converters, and the maximum sampling time to ensure stability of closed-loop LTI single input multiple output systems.