Corpus ID: 237592927

Towards cyber-physical systems robust to communication delays: A differential game approach

@article{Deka2021TowardsCS,
  title={Towards cyber-physical systems robust to communication delays: A differential game approach},
  author={Shankar A. Deka and Donggun Lee and Claire J. Tomlin},
  journal={ArXiv},
  year={2021},
  volume={abs/2109.10450}
}
Collaboration between interconnected cyberphysical systems is becoming increasingly pervasive. Timedelays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in robotic manipulators in bilateral teleoperation or string instability in platoons of autonomous vehicles. This paper considers nonlinear time-delay systems representing coupled robotic agents, and proposes controllers that are robust to timevarying communication… Expand

Figures from this paper

References

SHOWING 1-10 OF 34 REFERENCES
Stable Bilateral Teleoperation With Bounded Control
TLDR
This paper studies a problem of bilateral teleoperation in the presence of asymmetric communication delays, in the case when there is a controller saturation constraint on both the local and remote manipulators, finding sufficient conditions for guaranteeing stability and tracking under such a controller restriction. Expand
Experimental Validation of String Stability for Connected Vehicles Subject to Information Delay
TLDR
It is demonstrated that by designing a controller for each individual vehicle in the chain plant stability and string stability can be guaranteed despite the time delays in the control loop, the results lay a foundation for connected vehicle system design with flexible connectivity topologies. Expand
A Level Set Approach to Online Sensing and Trajectory Optimization with Time Delays
TLDR
The generalized Hopf formula is utilizes, which avoids the exponential dimensional scaling typical of other numerical methods for computing solutions to the Hamilton-Jacobi equation, and is presented as an example a robot that incrementally predicts a communication channel from measurements as it travels. Expand
Effects of communication delay on string stability in vehicle platoons
The throughput of vehicles on highways can be greatly increased by forming vehicle platoons. The control law that maintains stable operation of a platoon is dependent on the lead and precedingExpand
On controllability and observability of time delay systems
This paper deals with controllability and observability properties of time delay systems in the state space R^{n} \times L^{p} . In particular, we prove the equivalence of spectral controllabilityExpand
Survey on time-delay approach to networked control
TLDR
The survey highlights time-delay approach developed to modelling, analysis and synthesis of NCSs, under communication constraints, with a particular focus on Round-Robin, Try-once-discard and stochastic protocols. Expand
Feedback stabilization of linear autonomous time lag systems
A stabilization theory which employs well-established finite-dimensional control system tools is developed for the stabilization of linear autonomous time lag systems. The main ideas include 1) a setExpand
Position Tracking for Non-linear Teleoperators with Variable Time Delay
TLDR
This paper presents the conditions under which the velocities and position error of the non-linear teleoperator, for the three controllers, are bounded, and if the human does not move the local manipulator and the remote manipulator does not interact with the environment, then it is proved that velociter error converge to zero. Expand
String Stability and a Delay-Based Spacing Policy for Vehicle Platoons Subject to Disturbances
TLDR
A control design approach in the spatial domain is presented that achieves tracking of the desired spacing policy and guarantees disturbance string stability with respect to a spatially varying reference velocity. Expand
Time-delay systems: an overview of some recent advances and open problems
TLDR
Some open problems are discussed: the constructive use of the delayed inputs, the digital implementation of distributed delays, the control via the delay, and the handling of information related to the delay value. Expand
...
1
2
3
4
...