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Skip to Search Results- 4Time-Varying Delay
- 2Saturation Control
- 2Semi-Autonomous System
- 1Actuator Saturation
- 1Asymptotic Stability
- 1Autonomous Vehicles
- 5Biomedical Engineering, Department of
- 4Biomedical Engineering, Department of/Journal Articles (Biomedical Engineering)
- 2Electrical and Computer Engineering, Department of
- 2Civil and Environmental Engineering, Department of
- 2Civil and Environmental Engineering, Department of/Research Materials (Civil & Environmental Engineering)
- 1Electrical and Computer Engineering, Department of/Presentations (Electrical and Computer Engineering)
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A cooperative paradigm for task-space control of multilateral nonlinear teleoperation with bounded inputs and time-varying delays
Download2022-11-03
Amir Zakerimanesh, Farzad Hashemzadeh, Ali Torabi, Mahdi Tavakoli
In this article, a novel multilateral teleoperation structure is presented for cooperative control of a redundant remote robot in the task-space. In the structure, each local robot is assigned a real number between zero and one, as its dominance factor. The sum of all the assigned factors is...
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Controlled synchronization of nonlinear teleoperation in task-space with time-varying delays
Download2022-11-04
Amir Zakerimanesh, Farzad Hashemazdeh, Ali Torabi, Mahdi Tavakoli
This paper introduces a novel control framework for bilateral teleoperation system with the redundant remote robot to ensure the end-effectors’ position tracking while satisfying a sub-task control such as obstacle avoidance in the presence of the nonlinear dynamics for the manipulators and...
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Delay-Robust Nonlinear Control of Bounded-Input Telerobotic Systems with Synchronization Enhancement
Download2022-11-03
Amir Zakerimanesh, Mojtaba Sharifi, Farzad Hashemzadeh, Mahdi Tavakoli
This paper puts forward a novel controller for joint position tracking of bilateral teleoperation systems subjected simultaneously to time-varying communication delays and bounded actuation. Enhancing such systems’ robustness to the larger time delays comes prevalently at the cost of increased...
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2022-11-04
Amir Zakerimanesh, Tony Z. Qiu, Mahdi Tavakoli
Platooning which is defined as controlling a group of autonomous vehicles (multiple followers and one leader) to have a desired distance between them while following a desired trajectory has caught on recently in the control engineering discipline. Platooning brings along promising advantages,...
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Stability and Intervehicle Distance Analysis of Vehicular Platoons: Highlighting the Impact of Bidirectional Communication Topologies
Download2024-02-18
Amir Zakerimanesh, Tony Z. Qiu, Mahdi Tavakoli
Vehicular platooning, a configuration comprising a leading vehicle and multiple follower vehicles (FVs) seeks to achieve and maintain specific intervehicle distances (IDs) while synchronizing FVs with the velocity and acceleration of the leading vehicle. Before attaining a desired stable state,...
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2022-11-04
Amir Zakerimanesh, Ali Torabi, Farzad Hashemzadeh, Mahdi Tavakoli
This note presents a novel approach for task-space tracking control of redundant manipulators with bounded actuation. Inspired by the leader-follower containment problem in multi-agent systems, the proposed controller is utilized to address the containment control of a single follower manipulator...
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Task-Space Synchronization of Nonlinear Teleoperation with Time-Varying Delays and Actuator Saturation
Download2022-11-04
Amir Zakerimanesh, Farzad Hashemzadeh, Mahdi Tavakoli
In a nonlinear teleoperation system controlled for task-space position tracking, while the time-varying delay in the communication channel has been addressed, the actuator saturation has not been taken into account yet. Considering that in practice, the actuator saturation is a serious...