Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/6304
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dc.contributor.authorÇetin, Kamil-
dc.contributor.authorBayrak, Alper-
dc.contributor.authorTatlıcıoğlu, Enver-
dc.date.accessioned2017-10-04T07:57:19Z-
dc.date.available2017-10-04T07:57:19Z-
dc.date.issued2017-01-
dc.identifier.citationÇetin, K., Bayrak, A., and Tatlıcıoğlu, E. (2017, 29 June-1 July). Online time delay estimation in networked control systems with application to bilateral teleoperation. Paper presented at the 2016 European Control Conference. doi:10.1109/ECC.2016.7810421en_US
dc.identifier.isbn9781509025916-
dc.identifier.urihttp://doi.org/10.1109/ECC.2016.7810421-
dc.identifier.urihttp://hdl.handle.net/11147/6304-
dc.description2016 European Control Conference, ECC 2016; Aalborg; Denmark; 29 June 2016 through 1 July 2016en_US
dc.description.abstractThe problem of forward and backward time delays is significantly important for both control and feedback loop of networked control systems. These time delays give rise to latency in performance and thereby may destabilize the system. Therefore numerous methods have been proposed about time delay identification/estimation and compensation for networked control systems, especially for bilateral teleoperation systems. However, most compensation methods have been accomplished by considering offline time delay estimation for linear/nonlinear time delay control systems. In this work, we propose an observer based estimation algorithm for round trip delay which is the sum of forward and backward time delays for a 1 degree-of-freedom nonlinear bilateral teleoperation system. Via Lyapunov based stability analysis, global boundedness of the observer errors along with their ultimate convergence and the convergence of the round trip delay estimator to the vicinity of its real value can be guaranteed in the closed-loop system. Finally, simulation and experimental studies are carried out utilizing the last link of a PHANToM Omni Haptic device moving like a one-link robot in the vertical plane.en_US
dc.description.sponsorshipScientific and Technological Research Council of Turkey (113E147)en_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relationinfo:eu-repo/grantAgreement/TUBITAK/EEEAG/113E147en_US
dc.relation.ispartof2016 European Control Conference, ECC 2016en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectDelay control systemsen_US
dc.subjectControl systemsen_US
dc.subjectTime delayen_US
dc.subjectBilateral teleoperationen_US
dc.titleOnline time delay estimation in networked control systems with application to bilateral teleoperationen_US
dc.typeConference Objecten_US
dc.authoridTR123720en_US
dc.institutionauthorTatlıcıoğlu, Enver-
dc.departmentIzmir Institute of Technology. Electronics and Communication Engineeringen_US
dc.identifier.startpage1007en_US
dc.identifier.endpage1012en_US
dc.identifier.wosWOS:000392695300168en_US
dc.identifier.scopus2-s2.0-85015073584en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1109/ECC.2016.7810421-
dc.relation.doi10.1109/ECC.2016.7810421en_US
dc.coverage.doi10.1109/ECC.2016.7810421en_US
item.fulltextWith Fulltext-
item.openairetypeConference Object-
item.cerifentitytypePublications-
item.languageiso639-1en-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.grantfulltextopen-
crisitem.author.dept03.05. Department of Electrical and Electronics Engineering-
crisitem.author.dept03.05. Department of Electrical and Electronics Engineering-
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
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