System identification (2nd ed.): theory for the user
System identification (2nd ed.): theory for the user
A Multilinear Singular Value Decomposition
SIAM Journal on Matrix Analysis and Applications
From differential equations to PDC controller design via numerical transformation
Computers in Industry
On the combination of tensor product and fuzzy models
AQTR '08 Proceedings of the 2008 IEEE International Conference on Automation, Quality and Testing, Robotics - Volume 02
Delay-differential-algebraic equations in control theory
Applied Numerical Mathematics
Bilateral teleoperation: An historical survey
Automatica (Journal of IFAC)
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In force controlled industrial robots, haptic and telemanipulation devices stability and control performance are contradicting requirements. In distributed systems where the sensors, actuators and control logic are separated in space, due to the network delays the control process may become unstable. In our research, we consider the coupled impedance type control algorithms as common used method in telemanipulation and interaction control of robots. In this paper, an extended TP model transformation is proposed to convert the delayed system into a polytopic tensor product (TP) model considering the value of the feedback delay as a parameter. Using such model, controller design become tractable as it does not contain feedback delay. A numerical example for a single degree of freedom impedance model with feedback delay is discussed. The results are confirmed by simulation.