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Title:Control of networked Lagrangian systems with delays
Author(s):Rodriguez-Seda, Erick J.
Director of Research:Spong, Mark W.
Doctoral Committee Chair(s):Spong, Mark W.
Doctoral Committee Member(s):Hutchinson, Seth A.; Liberzon, Daniel M.; Stipanović, Dušan M.
Department / Program:Electrical & Computer Eng
Discipline:Electrical & Computer Engr
Degree Granting Institution:University of Illinois at Urbana-Champaign
Subject(s):Nonlinear Control
Robust Control
Networked Control
Time-Delay Systems
Multi-Agent Systems
Obstacle Avoidance
Autonomous Navigation
Sensor Uncertainty
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.
Issue Date:2011-05-25
Rights Information:Copyright 2011 Erick J. Rodríguez-Seda
Date Available in IDEALS:2013-05-26
Date Deposited:2011-05

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