NDLI: A new set of desired objectives for dual-user systems in the presence of unknown communication delay

Content Provider	IEEE Xplore Digital Library
Author	Shahbazi, M. Talebi, H.A. Atashzar, S.F. Towhidkhah, F. Patel, R.V. Shojaei, S.
Copyright Year	2011
Description	Author affiliation: Univ. of Western Ontario, London, ON, Canada (Patel, R.V.) \|\| Amirkabir Univ. of Technol., Tehran, Iran (Shahbazi, M.; Talebi, H.A.; Atashzar, S.F.; Towhidkhah, F.; Shojaei, S.)
Abstract	In this paper, new sets of desired objectives will be introduced for dual user systems. It will be shown that the existing set of objectives leads to eliminate the effect of dominance factor from the picture, while this is an important factor in dual user system. Consequently, in this paper, two sets of desired objective containing the dominance factor are presented, which can be used in variety of applications. Then, an adaptive control methodology is presented to satisfy the desired objectives in the presence of unknown communication delay. Towards this end, new desired impedance equations are introduced for each set of desired objectives. Subsequently, the adaptive impedance control strategy is applied which brings the closed-loop system in the form of the desired impedances. The stability of closed-loop system is investigated through passivity theory and it has been shown that the controller maintains system stability despite of the undesired effects of communication delays. The main feature of the controller is that it does not require a-priori information of delay. In fact, the controller uses delayed signals sent through the communication channels and consequently, there is no necessity to know the delay value. The performance of the proposed control methodology as well as the importance of the proposed sets is validated through experiments.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	146
Ending Page	151
File Size	352325
Page Count	6
File Format	PDF
ISBN	9781457708381
ISSN	21596255
e-ISBN	9781457708398
DOI	10.1109/AIM.2011.6027064
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-03
Publisher Place	Hungary
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Delay Robots Force Equations Stability analysis Impedance Communication channels Unknown Time Delay Cooperative systems Dual user systems Surgical Training Teleoperation
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in