Delayed Trilateral Teleoperation of a Mobile Robot

Autores
Santiago, Diego Daniel; Slawiñski, Emanuel; Mut, Vicente Antonio
Año de publicación
2017
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This paper analyzes the stability of a trilateral teleoperation system of a mobile robot. This type of system is nonlinear, time-varying, and delayed and includes a master-slave kinematic dissimilarity. To close the control loop, three P+d controllers are used under a position master/slave velocity strategy. The stability analysis is based on Lyapunov-Krasovskii theory where a functional is proposed and analyzed to get conditions for the control parameters that assure a stable behavior, keeping the synchronism errors bounded. Finally, the theoretical result is verified in practice by means of a simple test, where two human operators both collaboratively and simultaneously drive a 3D simulator of a mobile robot to achieve an established task on a remote shared environment.
Fil: Santiago, Diego Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Materia
TRILATERAL TELEOPERATION
NONLINEAR SYSTEMS
TIME-VARYING DELAY
MOBILE ROBOT
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/63481
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Delayed Trilateral Teleoperation of a Mobile RobotSantiago, Diego DanielSlawiñski, EmanuelMut, Vicente AntonioTRILATERAL TELEOPERATIONNONLINEAR SYSTEMSTIME-VARYING DELAYMOBILE ROBOThttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This paper analyzes the stability of a trilateral teleoperation system of a mobile robot. This type of system is nonlinear, time-varying, and delayed and includes a master-slave kinematic dissimilarity. To close the control loop, three P+d controllers are used under a position master/slave velocity strategy. The stability analysis is based on Lyapunov-Krasovskii theory where a functional is proposed and analyzed to get conditions for the control parameters that assure a stable behavior, keeping the synchronism errors bounded. Finally, the theoretical result is verified in practice by means of a simple test, where two human operators both collaboratively and simultaneously drive a 3D simulator of a mobile robot to achieve an established task on a remote shared environment.Fil: Santiago, Diego Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaHindawi Publishing Corporation2017-10info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/63481Santiago, Diego Daniel; Slawiñski, Emanuel; Mut, Vicente Antonio; Delayed Trilateral Teleoperation of a Mobile Robot; Hindawi Publishing Corporation; Mathematical Problems in Engineering; 2017; 10-2017; 1-12; 60483651024-123X1563-5147CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://www.hindawi.com/journals/mpe/2017/6048365/info:eu-repo/semantics/altIdentifier/doi/10.1155/2017/6048365info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-11-05T10:51:34Zoai:ri.conicet.gov.ar:11336/63481instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-11-05 10:51:34.809CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Delayed Trilateral Teleoperation of a Mobile Robot
title Delayed Trilateral Teleoperation of a Mobile Robot
spellingShingle Delayed Trilateral Teleoperation of a Mobile Robot
Santiago, Diego Daniel
TRILATERAL TELEOPERATION
NONLINEAR SYSTEMS
TIME-VARYING DELAY
MOBILE ROBOT
title_short Delayed Trilateral Teleoperation of a Mobile Robot
title_full Delayed Trilateral Teleoperation of a Mobile Robot
title_fullStr Delayed Trilateral Teleoperation of a Mobile Robot
title_full_unstemmed Delayed Trilateral Teleoperation of a Mobile Robot
title_sort Delayed Trilateral Teleoperation of a Mobile Robot
dc.creator.none.fl_str_mv Santiago, Diego Daniel
Slawiñski, Emanuel
Mut, Vicente Antonio
author Santiago, Diego Daniel
author_facet Santiago, Diego Daniel
Slawiñski, Emanuel
Mut, Vicente Antonio
author_role author
author2 Slawiñski, Emanuel
Mut, Vicente Antonio
author2_role author
author
dc.subject.none.fl_str_mv TRILATERAL TELEOPERATION
NONLINEAR SYSTEMS
TIME-VARYING DELAY
MOBILE ROBOT
topic TRILATERAL TELEOPERATION
NONLINEAR SYSTEMS
TIME-VARYING DELAY
MOBILE ROBOT
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This paper analyzes the stability of a trilateral teleoperation system of a mobile robot. This type of system is nonlinear, time-varying, and delayed and includes a master-slave kinematic dissimilarity. To close the control loop, three P+d controllers are used under a position master/slave velocity strategy. The stability analysis is based on Lyapunov-Krasovskii theory where a functional is proposed and analyzed to get conditions for the control parameters that assure a stable behavior, keeping the synchronism errors bounded. Finally, the theoretical result is verified in practice by means of a simple test, where two human operators both collaboratively and simultaneously drive a 3D simulator of a mobile robot to achieve an established task on a remote shared environment.
Fil: Santiago, Diego Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
description This paper analyzes the stability of a trilateral teleoperation system of a mobile robot. This type of system is nonlinear, time-varying, and delayed and includes a master-slave kinematic dissimilarity. To close the control loop, three P+d controllers are used under a position master/slave velocity strategy. The stability analysis is based on Lyapunov-Krasovskii theory where a functional is proposed and analyzed to get conditions for the control parameters that assure a stable behavior, keeping the synchronism errors bounded. Finally, the theoretical result is verified in practice by means of a simple test, where two human operators both collaboratively and simultaneously drive a 3D simulator of a mobile robot to achieve an established task on a remote shared environment.
publishDate 2017
dc.date.none.fl_str_mv 2017-10
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/63481
Santiago, Diego Daniel; Slawiñski, Emanuel; Mut, Vicente Antonio; Delayed Trilateral Teleoperation of a Mobile Robot; Hindawi Publishing Corporation; Mathematical Problems in Engineering; 2017; 10-2017; 1-12; 6048365
1024-123X
1563-5147
CONICET Digital
CONICET
url http://hdl.handle.net/11336/63481
identifier_str_mv Santiago, Diego Daniel; Slawiñski, Emanuel; Mut, Vicente Antonio; Delayed Trilateral Teleoperation of a Mobile Robot; Hindawi Publishing Corporation; Mathematical Problems in Engineering; 2017; 10-2017; 1-12; 6048365
1024-123X
1563-5147
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://www.hindawi.com/journals/mpe/2017/6048365/
info:eu-repo/semantics/altIdentifier/doi/10.1155/2017/6048365
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Hindawi Publishing Corporation
publisher.none.fl_str_mv Hindawi Publishing Corporation
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.084122

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