Panzirsch, Michael und Ryu, Jee-Hwan und Ferre, Manuel (2019) Reducing the Conservatism of the Time Domain Passivity Approach through Consideration of Energy Reflection in Delayed Coupled Network Systems. Mechatronics. Elsevier. doi: 10.1016/j.mechatronics.2018.12.001. ISSN 0957-4158.
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Offizielle URL: https://www.sciencedirect.com/science/article/abs/pii/S0957415818301892
Kurzfassung
The Time Domain Passivity Approach (TDPA), a method to inject adaptive damping to satisfy the passivity condition in real-time, has emerged as a powerful tool to stabilize coupled network systems with/without communication delay, such as haptic and teleoperation systems, due to its simplicity and effectiveness. However, we found that the conventional TDPA has unnecessary conservatism especially in delayed coupled network systems due to direction dependent energy calculation and dissipation. In this paper, we propose a new time domain passivity approach with reduced conservatism by considering the energy reflection from an energy storage element in the network. The method is generally formulated with a delayed 2-port network system including an energy storage element and implemented to a teleoperation system. The proposed method is experimentally tested and a comparison with the conventional TDPA reveals improved kinesthetic coupling and transparency in terms of position tracking and force reflection.
elib-URL des Eintrags: | https://elib.dlr.de/134123/ | ||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | Reducing the Conservatism of the Time Domain Passivity Approach through Consideration of Energy Reflection in Delayed Coupled Network Systems | ||||||||||||||||
Autoren: |
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Datum: | 2019 | ||||||||||||||||
Erschienen in: | Mechatronics | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1016/j.mechatronics.2018.12.001 | ||||||||||||||||
Verlag: | Elsevier | ||||||||||||||||
ISSN: | 0957-4158 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Time Domain Passivity Control, Time Delay, Coupled Network Systems | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Telerobotik (alt), R - Telerobotik | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||
Hinterlegt von: | Panzirsch, Michael | ||||||||||||||||
Hinterlegt am: | 14 Feb 2020 09:22 | ||||||||||||||||
Letzte Änderung: | 02 Mai 2022 10:53 |
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