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Wave-variable framework for networked robotic systems with time delays and packet losses

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  • Seng-Ming Puah
  • Yen-Chen Liu

Abstract

This paper investigates the problem of networked control system for nonlinear robotic manipulators under time delays and packet loss by using passivity technique. With the utilisation of wave variables and a passive remote controller, the networked robotic system is demonstrated to be stable with guaranteed position regulation. For the input/output signals of robotic systems, a discretisation block is exploited to convert continuous-time signals to discrete-time signals, and vice versa. Subsequently, we propose a packet management, called wave-variable modulation, to cope with the proposed networked robotic system under time delays and packet losses. Numerical examples and experimental results are presented to demonstrate the performance of the proposed wave-variable-based networked robotic systems.

Suggested Citation

  • Seng-Ming Puah & Yen-Chen Liu, 2017. "Wave-variable framework for networked robotic systems with time delays and packet losses," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(7), pages 1472-1484, May.
    • Handle: RePEc:taf:tsysxx:v:48:y:2017:i:7:p:1472-1484
    DOI: 10.1080/00207721.2016.1266060
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    References listed on IDEAS

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    1. Editors, 2014. "International Journal of Systems Science," International Journal of Systems Science, Taylor & Francis Journals, vol. 45(12), pages 1-1, December.
    2. Shun Jiang & Huajing Fang, 2013. "Robust fault detection for networked control systems with nonlinear disturbances and imperfect measurements," International Journal of Systems Science, Taylor & Francis Journals, vol. 44(11), pages 2027-2038.
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