Online time delay estimation in networked control systems with application to bilateral teleoperation

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dc.authorid0000-0001-5623-9975en_US
dc.authorid0000-0003-1029-5626en_US
dc.authorid0000-0003-4745-5304en_US
dc.contributor.authorÇetin, Kamil
dc.contributor.authorBayrak, Alper
dc.contributor.authorTatlıcıoğlu, Enver
dc.date.accessioned2021-06-23T19:43:59Z
dc.date.available2021-06-23T19:43:59Z
dc.date.issued2016
dc.departmentBAİBÜ, Mühendislik Fakültesi, Elektrik Elektronik Mühendisliği Bölümüen_US
dc.descriptionEuropean Control Conference (ECC) -- JUN 29-JUL 01, 2016 -- Aalborg, DENMARKen_US
dc.description.abstractThe problem of forward and backward time delays is significantly important for both control and feedback loop of networked control systems. These time delays give rise to latency in performance and thereby may destabilize the system. Therefore numerous methods have been proposed about time delay identification/estimation and compensation for networked control systems, especially for bilateral teleoperation systems. However, most compensation methods have been accomplished by considering offline time delay estimation for linear/nonlinear time delay control systems. In this work, we propose an observer based estimation algorithm for round trip delay which is the sum of forward and backward time delays for a 1 degree-of-freedom nonlinear bilateral teleoperation system. Via Lyapunov based stability analysis, global boundedness of the observer errors along with their ultimate convergence and the convergence of the round trip delay estimator to the vicinity of its real value can be guaranteed in the closed loop system. Finally, simulation and experimental studies are carried out utilizing the last link of a PHANToM Omni Haptic device moving like a one link robot in the vertical plane.en_US
dc.identifier.endpage1012en_US
dc.identifier.isbn978-1-5090-2591-6
dc.identifier.scopus2-s2.0-85015073584en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage1007en_US
dc.identifier.urihttps://hdl.handle.net/20.500.12491/8895
dc.identifier.urihttps://www.webofscience.com/wos/woscc/full-record/WOS:000392695300168
dc.identifier.urihttps://gcris.iyte.edu.tr/bitstream/11147/6304/1/6304.pdf
dc.identifier.wosWOS:000392695300168en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.institutionauthorBayrak, Alper
dc.language.isoenen_US
dc.publisherIeeeen_US
dc.relation.ispartof2016 European Control Conference (Ecc)en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectVia Lyapunov Based Stability Analysisen_US
dc.subjectPHANToM Omni Haptic Device
dc.subjectBilateral Teleoperation
dc.subjectNetworked Control Systems
dc.titleOnline time delay estimation in networked control systems with application to bilateral teleoperationen_US
dc.typeConference Objecten_US

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