Control of networked Lagrangian systems with delays

Rodriguez-Seda, Erick J.

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https://hdl.handle.net/2142/24417 Copy

Description

Title

Control of networked Lagrangian systems with delays

Author(s)

Rodriguez-Seda, Erick J.

Issue Date

2011-05-25T14:39:34Z

Director of Research (if dissertation) or Advisor (if thesis)

Spong, Mark W.

Doctoral Committee Chair(s)

Spong, Mark W.

Committee Member(s)

• Hutchinson, Seth A.
• Liberzon, Daniel M.
• Stipanović, Dušan M.

Department of Study

Electrical & Computer Eng

Discipline

Electrical & Computer Engr

Degree Granting Institution

University of Illinois at Urbana-Champaign

Degree Name

Ph.D.

Degree Level

Dissertation

Keyword(s)

• Nonlinear Control
• Robust Control
• Networked Control
• Time-Delay Systems
• Teleoperation
• Multi-Agent Systems
• Obstacle Avoidance
• Autonomous Navigation
• Sensor Uncertainty
• Passivity

Abstract

In sync with the accelerated integration of communication and control systems, this dissertation presents theoretical and experimental results on the robust control of networked Lagrangian systems with discrete-delayed inputs and uncertain information. Within this context, we present novel solutions to the control of nonlinear systems, coordination of multiple agents, bilateral teleoperation, and collision avoidance over unreliable communication channels. We start with the introduction of a passivity-based Model Reference Robust Control framework that guarantees delay-independent asymptotic stability and state convergence of dissipative, nonlinear Lagrangian systems with input and state measurement delays. Then, the proposed control methodology is extended to networks of multiple heterogeneous systems. We demonstrate that stability, formation, and cooperative motion coordination can be attained independently of arbitrarily large constant input delays. We next treat the control problem of single-master-single-slave bilateral teleoperation. Using concepts of passivity theory and input-to-state stability, we design a control strategy that passively compensates for position errors that arise during contact tasks and achieves delay-independent stability and transparency when alternating between unobstructed and obstructed environments. Likewise, we address the case of single-master-multi-slave teleoperation and propose a distributed control law that synthesizes the use of a proportional-derivative controller and the avoidance functions to enforce closed-loop stability, slaves-to-master motion coordination, formation control, static force reflection, and collision avoidance of a group of slave robots with bounded communication delays. We further investigate the topic of collision avoidance and formulate cooperative and noncooperative control strategies that guarantee the safe navigation of multiple Lagrangian systems with limited, unreliable sensing range. Along with the theoretical formulation of the control solutions, this dissertation presents simulation and experimental results with robotic manipulators and unmanned coaxial helicopters utilizing the proposed control strategies.

Graduation Semester

2011-05

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http://hdl.handle.net/2142/24417

Copyright and License Information

Copyright 2011 Erick J. Rodríguez-Seda

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