Iqbal, Asif: Stabilization of delayed teleoperation systems using time domain passivity control. 2007
Inhalt
- Acknowledgments
- Contents
- List of Figures
- List of Tables
- DISSERTATION ABSTRACT
- Kurzfassung
- 1 Introduction
- 2 Problem Definition
- 2.1 Instability due to Time Delay
- 2.2 System Modeling
- 2.3 Manifestation of the Problem using Simulations
- 3 Literature Review
- 4 Stability and Passivity
- 5 Time Domain Passivity Control
- 6 Stabilization in the Presence ofConstant Time Delays
- 6.1 Extension of TDPC to Delayed Teleoperation
- 6.2 Energy Prediction for Time Domain Passivity
- 6.3 Using Energy Derivatives to Enhance Transparency
- 6.4 Non-linear Recursive Estimation of Net Energyusing Parabolic Power Integration
- 6.5 Time Varying Environment
- 7 Stabilization in the Presence ofTime Varying Delays
- 7.1 Generation and Prediction of Time-VaryingDelays
- 7.2 Design of Passivity Controllers
- 7.3 Simulation and Results
- 7.4 Implementation using TrueTime Network Simulator
- 8 Discussion of Results andConclusions
- Appendix A TrueTime SIMULATOR
- Appendix B DC Motor, Gear, and Encoder Parameters
- Bibliography
- Index