Resilient Multi-Agent Systems Against Denial of Service Attacks via Adaptive and Activatable Network Layers
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Venkateswaran, Deepalakshmi Babu↗
Engineering topics
Venkateswaran, Deepalakshmi Babu
Publications and source records attributed to Venkateswaran, Deepalakshmi Babu.
A Passivity-Shortage Based Control Design for Teleoperation With Time-Varying Delays
This letter investigates the effect of time-varying delays in bilateral teleoperation, with respect to stability and performance, using the properties of passivity-shortage. Until recently, the desired stability and performance characteristics were achieved using the concept of passivity. However, passivity is limited to systems of relative degree zero or one, while passivity-shortage includes systems of higher relative degrees and possibly of non-minimum phase. Passivity-shortage also arises naturally when data transmission is subject to delays, either constant or time-varying. In this letter, the properties of passivity-shortage are employed to design a simple negative feedback controller. We show that the proposed method provides a faster responding solution and improved performance compared to the existing approaches. The performance improvements include improved steady-state error convergence, and robustness against environmental disturbances, even in the presence of varying delays.
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