{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/24417"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/24417","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Control of networked Lagrangian systems with delays","abstract":"Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2011-04-07T21:54:57Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 2 DissFiles.zip: 17030006 bytes, checksum: 92249adf3a2c3a3a4d466fa347b30556 (MD5) Rodriguez-Seda_Erick.pdf: 4405861 bytes, checksum: f3354985891da1e86fa851dec9d586e8 (MD5)","abstract_html":"Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2011-04-07T21:54:57Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 2 DissFiles.zip: 17030006 bytes, checksum: 92249adf3a2c3a3a4d466fa347b30556 (MD5) Rodriguez-Seda_Erick.pdf: 4405861 bytes, checksum: f3354985891da1e86fa851dec9d586e8 (MD5)","abstract_has_math":false,"creators":["Rodriguez-Seda, Erick J."],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Electrical & Computer Engr","degree_department":null,"school":null,"contributors":["Spong, Mark W.","Hutchinson, Seth A.","Liberzon, Daniel M.","Stipanović, Dušan M."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2011,"date_issued":"2011-05-25T14:39:34Z","date_published":"2011-05-25T14:39:34Z","updated_at":"2026-07-22T22:25:23Z","subjects":["Nonlinear Control","Robust Control","Networked Control","Time-Delay Systems","Teleoperation","Multi-Agent Systems","Obstacle Avoidance","Autonomous Navigation","Sensor Uncertainty","Passivity"],"languages":["en"],"rights":["Copyright 2011 Erick J. Rodríguez-Seda"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/24417","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Spong, Mark W.","Hutchinson, Seth A.","Liberzon, Daniel M.","Stipanović, Dušan M."]},{"key":"dc:creator","label":"Author","values":["Rodriguez-Seda, Erick J."]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2011-05-25T14:39:34Z","2013-05-26T10:00:25Z","2011-05"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical & Computer Engr"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Nonlinear Control","Robust Control","Networked Control","Time-Delay Systems","Teleoperation","Multi-Agent Systems","Obstacle Avoidance","Autonomous Navigation","Sensor Uncertainty","Passivity"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2011 Erick J. Rodríguez-Seda"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/24417"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2011-04-07T21:54:57Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 2 DissFiles.zip: 17030006 bytes, checksum: 92249adf3a2c3a3a4d466fa347b30556 (MD5) Rodriguez-Seda_Erick.pdf: 4405861 bytes, checksum: f3354985891da1e86fa851dec9d586e8 (MD5)","Made available in DSpace on 2011-05-25T14:39:34Z (GMT). No. of bitstreams: 3 Rodriguez-Seda_Erick.pdf: 4405861 bytes, checksum: f3354985891da1e86fa851dec9d586e8 (MD5) license.txt: 4065 bytes, checksum: 43237ca266f9709e2012fb395229b632 (MD5) DissFiles.zip: 17030006 bytes, checksum: 92249adf3a2c3a3a4d466fa347b30556 (MD5)","Item marked as restricted to the 'UIUC Users [automated]' Group (id=2) by William Ingram (wingram2@illinois.edu) on 2011-05-25T14:42:08Z Item is restricted until 2013-05-25T14:41:28Z","In sync with the accelerated integration of communication and control systems, this dissertation presents theoretical and experimental results on the robust control of networked Lagrangian systems with discrete-delayed inputs and uncertain information. Within this context, we present novel solutions to the control of nonlinear systems, coordination of multiple agents, bilateral teleoperation, and collision avoidance over unreliable communication channels. We start with the introduction of a passivity-based Model Reference Robust Control framework that guarantees delay-independent asymptotic stability and state convergence of dissipative, nonlinear Lagrangian systems with input and state measurement delays. Then, the proposed control methodology is extended to networks of multiple heterogeneous systems. We demonstrate that stability, formation, and cooperative motion coordination can be attained independently of arbitrarily large constant input delays. We next treat the control problem of single-master-single-slave bilateral teleoperation. Using concepts of passivity theory and input-to-state stability, we design a control strategy that passively compensates for position errors that arise during contact tasks and achieves delay-independent stability and transparency when alternating between unobstructed and obstructed environments. Likewise, we address the case of single-master-multi-slave teleoperation and propose a distributed control law that synthesizes the use of a proportional-derivative controller and the avoidance functions to enforce closed-loop stability, slaves-to-master motion coordination, formation control, static force reflection, and collision avoidance of a group of slave robots with bounded communication delays. We further investigate the topic of collision avoidance and formulate cooperative and noncooperative control strategies that guarantee the safe navigation of multiple Lagrangian systems with limited, unreliable sensing range. Along with the theoretical formulation of the control solutions, this dissertation presents simulation and experimental results with robotic manipulators and unmanned coaxial helicopters utilizing the proposed control strategies.","Item reinstated by Sarah Shreeves (sshreeve@illinois.edu) on 2013-05-26T10:00:25Z Item was in collections: University of Illinois Dissertations and Theses (ID: 204) Dissertations and Theses - Electrical and Computer Engineering (ID: 446) No. of bitstreams: 4 Rodriguez-Seda_Erick.pdf.txt: 273947 bytes, checksum: 65766bf826cf863573fdfce18147f817 (MD5) Rodriguez-Seda_Erick.pdf: 4405861 bytes, checksum: f3354985891da1e86fa851dec9d586e8 (MD5) license.txt: 4065 bytes, checksum: 43237ca266f9709e2012fb395229b632 (MD5) DissFiles.zip: 17030006 bytes, checksum: 92249adf3a2c3a3a4d466fa347b30556 (MD5)","Item released from any restrictions by Sarah Shreeves (sshreeve@illinois.edu) on 2013-05-26T10:00:25Z"]},{"key":"dc:title","label":"Title","values":["Control of networked Lagrangian systems with delays"]}]}],"canonical_facts":{"dc:contributor":["Spong, Mark W.","Hutchinson, Seth A.","Liberzon, Daniel M.","Stipanović, Dušan M."],"dc:creator":["Rodriguez-Seda, Erick J."],"dc:date":["2011-05-25T14:39:34Z","2013-05-26T10:00:25Z","2011-05"],"dc:description":["Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2011-04-07T21:54:57Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 2 DissFiles.zip: 17030006 bytes, checksum: 92249adf3a2c3a3a4d466fa347b30556 (MD5) Rodriguez-Seda_Erick.pdf: 4405861 bytes, checksum: f3354985891da1e86fa851dec9d586e8 (MD5)","Made available in DSpace on 2011-05-25T14:39:34Z (GMT). No. of bitstreams: 3 Rodriguez-Seda_Erick.pdf: 4405861 bytes, checksum: f3354985891da1e86fa851dec9d586e8 (MD5) license.txt: 4065 bytes, checksum: 43237ca266f9709e2012fb395229b632 (MD5) DissFiles.zip: 17030006 bytes, checksum: 92249adf3a2c3a3a4d466fa347b30556 (MD5)","Item marked as restricted to the 'UIUC Users [automated]' Group (id=2) by William Ingram (wingram2@illinois.edu) on 2011-05-25T14:42:08Z Item is restricted until 2013-05-25T14:41:28Z","In sync with the accelerated integration of communication and control systems, this dissertation presents theoretical and experimental results on the robust control of networked Lagrangian systems with discrete-delayed inputs and uncertain information. Within this context, we present novel solutions to the control of nonlinear systems, coordination of multiple agents, bilateral teleoperation, and collision avoidance over unreliable communication channels. We start with the introduction of a passivity-based Model Reference Robust Control framework that guarantees delay-independent asymptotic stability and state convergence of dissipative, nonlinear Lagrangian systems with input and state measurement delays. Then, the proposed control methodology is extended to networks of multiple heterogeneous systems. We demonstrate that stability, formation, and cooperative motion coordination can be attained independently of arbitrarily large constant input delays. We next treat the control problem of single-master-single-slave bilateral teleoperation. Using concepts of passivity theory and input-to-state stability, we design a control strategy that passively compensates for position errors that arise during contact tasks and achieves delay-independent stability and transparency when alternating between unobstructed and obstructed environments. Likewise, we address the case of single-master-multi-slave teleoperation and propose a distributed control law that synthesizes the use of a proportional-derivative controller and the avoidance functions to enforce closed-loop stability, slaves-to-master motion coordination, formation control, static force reflection, and collision avoidance of a group of slave robots with bounded communication delays. We further investigate the topic of collision avoidance and formulate cooperative and noncooperative control strategies that guarantee the safe navigation of multiple Lagrangian systems with limited, unreliable sensing range. Along with the theoretical formulation of the control solutions, this dissertation presents simulation and experimental results with robotic manipulators and unmanned coaxial helicopters utilizing the proposed control strategies.","Item reinstated by Sarah Shreeves (sshreeve@illinois.edu) on 2013-05-26T10:00:25Z Item was in collections: University of Illinois Dissertations and Theses (ID: 204) Dissertations and Theses - Electrical and Computer Engineering (ID: 446) No. of bitstreams: 4 Rodriguez-Seda_Erick.pdf.txt: 273947 bytes, checksum: 65766bf826cf863573fdfce18147f817 (MD5) Rodriguez-Seda_Erick.pdf: 4405861 bytes, checksum: f3354985891da1e86fa851dec9d586e8 (MD5) license.txt: 4065 bytes, checksum: 43237ca266f9709e2012fb395229b632 (MD5) DissFiles.zip: 17030006 bytes, checksum: 92249adf3a2c3a3a4d466fa347b30556 (MD5)","Item released from any restrictions by Sarah Shreeves (sshreeve@illinois.edu) on 2013-05-26T10:00:25Z"],"dc:identifier":["http://hdl.handle.net/2142/24417"],"dc:language":["en"],"dc:rights":["Copyright 2011 Erick J. Rodríguez-Seda"],"dc:subject":["Nonlinear Control","Robust Control","Networked Control","Time-Delay Systems","Teleoperation","Multi-Agent Systems","Obstacle Avoidance","Autonomous Navigation","Sensor Uncertainty","Passivity"],"dc:title":["Control of networked Lagrangian systems with delays"],"thesis:degree_discipline":["Electrical & Computer Engr"],"thesis:degree_level":["Dissertation"],"thesis:degree_name":["Ph.D."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:23Z"}