Wave-variable framework for networked robotic systems with time delays and packet losses

ABSTRACT

This paper investigates the problem of networked control system for nonlinear robotic manipulators under time delays and packet loss by using passivity technique. With the utilisation of wave variables and a passive remote controller, the networked robotic system is demonstrated to be stable with guaranteed position regulation. For the input/output signals of robotic systems, a discretisation block is exploited to convert continuous-time signals to discrete-time signals, and vice versa. Subsequently, we propose a packet management, called wave-variable modulation, to cope with the proposed networked robotic system under time delays and packet losses. Numerical examples and experimental results are presented to demonstrate the performance of the proposed wave-variable-based networked robotic systems.

KEYWORDS:

• Networked robotic system
• wave-variable modulation
• communication delay
• packet loss
• robotic automation

Acknowledgments

The authors would like to thank the anonymous reviewers and the editors for their helpful and valuable comments that led to significant improvement of this paper.

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported by the Ministry of Science and Technology (MOST), Taiwan [grant number MOST 103-2221-E-006-182-MY3].