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Stable Leader-Follower Systems: A Pa...

Mokogwu, Chiedu Nnaji.

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Stable Leader-Follower Systems: A Passivity Perspective for Telerobotics and Vehicle Platooning.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Stable Leader-Follower Systems: A Passivity Perspective for Telerobotics and Vehicle Platooning./
作者:	Mokogwu, Chiedu Nnaji.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2021,
面頁冊數:	182 p.
附註:	Source: Dissertations Abstracts International, Volume: 82-12, Section: B.
Contained By:	Dissertations Abstracts International82-12B.
標題:	Computer engineering. -
電子資源:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28393926
ISBN:	9798708780430

Stable Leader-Follower Systems: A Passivity Perspective for Telerobotics and Vehicle Platooning.
Mokogwu, Chiedu Nnaji.

Stable Leader-Follower Systems: A Passivity Perspective for Telerobotics and Vehicle Platooning. - Ann Arbor : ProQuest Dissertations & Theses, 2021 - 182 p.

Source: Dissertations Abstracts International, Volume: 82-12, Section: B.

Thesis (Ph.D.)--Queen's University (Canada), 2021.

This item must not be sold to any third party vendors.

Advances in computing, more affordable hardware electronics, and reliable communications have led to development of cutting-edge robotic applications where two or more subsystems interact in a leader-follower arrangement to perform tasks. The major sources of instability and performance degradation in leader-follower systems are time delays and dynamic uncertainties, therefore, stability analysis tools and control architectures are developed to guarantee robust stability amid these uncertainties. In this thesis, the focus is on telerobotic and vehicle platooning examples of leader-follower systems.Telerobotic systems extend the manipulation capability of humans at different scales to remote, virtual, or dangerous environments. A strategy is developed to resolve the problems encountered in telerobotic applications with significant disparity between leader and follower workspace. Utilizing proximity of the follower from the environment, a hybrid strategy that transitions from rate to position mode is designed. Passivity theory is employed to guarantee stability, while experiments are conducted to determine the viability of the hybrid system.Energy-based methods like absolute stability are typically model-based, therefore, their outcome is heavily dependent on the accuracy of the teleoperator model. Depending on the degree of uncertainty in the dynamic model of the teleoperator and existing noise, the system may behave as potentially unstable when the model-based analysis predicts otherwise. A methodology to experimentally verify the absolute stability of leader-follower teleoperation systems is developed by utilizing data obtained from three experiments often experienced in teleoperation. The proposed method is examined against the benchmark Llewellyn's absolute stability criterion. String stability is a property of vehicle platoons which ensure the system states are not amplified downstream along the string of vehicles, causing multi-vehicle accidents. In platoons that employ constant distant spacing, linear controllers and distance from the preceding vehicle only, string stability cannot be guaranteed. A visual tool to assess string stability is presented, and a passivity-based sufficient condition for string stability in the frequency domain is developed. The control strategy, accounting for uncertainties and time delays is validated using numerical simulations.The three application examples show how stability robustness against uncertainties can be tackled employing energy-based methods, while meeting the systems performance objectives.

ISBN: 9798708780430Subjects--Topical Terms:

621879
Computer engineering.
Subjects--Index Terms:

Telerobotic systems

Stable Leader-Follower Systems: A Passivity Perspective for Telerobotics and Vehicle Platooning.
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