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Reducing the Conservatism of the Time Domain Passivity Approach through Consideration of Energy Reflection in Delayed Coupled Network Systems

Panzirsch, Michael and Ryu, Jee-Hwan and Ferre, Manuel (2019) Reducing the Conservatism of the Time Domain Passivity Approach through Consideration of Energy Reflection in Delayed Coupled Network Systems. Mechatronics. Elsevier. ISSN 0957-4158

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Abstract

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.

Item URL in elib:https://elib.dlr.de/134123/
Document Type:Article
Title:Reducing the Conservatism of the Time Domain Passivity Approach through Consideration of Energy Reflection in Delayed Coupled Network Systems
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Panzirsch, MichaelMichael.Panzirsch (at) dlr.dehttps://orcid.org/0000-0002-0647-7147
Ryu, Jee-Hwanjhryu (at) koreatech.ac.krUNSPECIFIED
Ferre, Manuelm.ferre (at) upm.esUNSPECIFIED
Date:2019
Journal or Publication Title:Mechatronics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Publisher:Elsevier
ISSN:0957-4158
Status:Published
Keywords:Time Domain Passivity Control, Time Delay, Coupled Network Systems
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Telerobotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Panzirsch, Michael
Deposited On:14 Feb 2020 09:22
Last Modified:14 Feb 2020 09:22

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