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7151
I. I NTRODUCTION
0278-0046 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
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ZHAO et al.: STABILITY AND PERFORMANCE LIMIT OF LATENCY-PRONE DISTRIBUTED FEEDBACK CONTROLLER
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Fig. 2. Single-input/single-output controller with distributed structure. A simple PD control law is used to control an actuator. P denotes the actuator
plant with motor current input iM and position output x. 1 represents a scaling constant mapping the desired force FD to the motor current iM .
K is the stiffness feedback gain, while B is the damping feedback gain.
x(s)
x(s) FM (s)
=
=
2
iM (s)
FM (s) iM (s)
ms + bs
(1)
(2)
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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 62, NO. 11, NOVEMBER 2015
x
Bs + K
=
xD
ms2 + (b + eTd s BQv )s + eTs s K
(3)
2fv
.
s + 2fv
(4)
To derive the open-loop transfer function [32] of the distributed controller, one can rewrite (3) as
PCL (s) =
Bs+K
ms2 +bs
1 + POL (s)
(5)
(6)
(7)
where n is the so-called natural frequency, and is the socalled damping factor. In such case, the idealized characteristic
polynomial [i.e., ignoring delays (Ts = Td = 0) and filtering
(Qv = 1)] associated with our closed-loop plant of (3) would be
s2 + (B + b)/m s + K/m.
(8)
(9)
B = 2 mK b
and the natural frequency
1
n
=
fn
2
2
K
.
m
(10)
The second-order dependence of (9) will be used, for the remainder of this paper, for deriving new gain selection methods
through the thorough analysis of the oscillatory behavior of the
closed-loop plant of (3). In particular, our study will use the
phase margin criterion and other visualization tools to study
how the complete system reacts to feedback delays and signal
filtering. Phase margin is the additional phase value above
180 when the magnitude plot crosses the 0-dB line (i.e.,
the gain crossover frequency). It is common to quantify system
stability by its phase margin.
For the proposed distributed controller in Fig. 2, the damping feedback loop is labeled as low level (e.g., embedded)
to emphasize that it is meant to be locally implemented to
take advantage of high servo rates. On the other hand, the
stiffness loop is implemented in a high-level computational
process close to external sensors and centralized models, for
operational space control purposes. Operational space control
is normally used in human-centered robotic applications, where
controllers use task coordinates and global models for their
operation. The simplified controller in Fig. 2 is used to illustrate
the discrepancies in sensitivity to latencies between the servo
ZHAO et al.: STABILITY AND PERFORMANCE LIMIT OF LATENCY-PRONE DISTRIBUTED FEEDBACK CONTROLLER
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Fig. 4. Comparison between step responses with slow and fast damping servos. These subfigures compare the effects of damping feedback on
slow or fast servo processes. The simulations are performed on the same actuator used in the experimental section in Section V. The top row
depicts damping feedback implemented with delays of 15 ms, while the bottom row depicts a faster damping servo with delay of only 1 ms. For both
rows, various stiffness delays are identically used ranging from 5 to 25 ms. (a) and (d) Simulations of the phase margin once more as a function of
the natural frequency, which in turn is a function of the feedback stiffness gain.
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A detailed mathematical analysis is developed to find further physical structure for the causes of stability discrepancies
between damping and stiffness delays. Let us revisit the openloop transfer function of (6). The resulting open-loop transfer
function, including the low-pass velocity filter of (4), in the
frequency domain (s = j) is given by
jA1 () + A2 ()
j(jm + b)(jv + 1)
(11)
with
(17)
POL () =
(18)
(19)
2 + 1 B 2
B
+
K
(
)
g
v
g
g
PM
.
(20)
2
2
Td
A1g + A2g
K
.
g >
2
B K 2 v2
=
< 0 (22)
Td
Ts
A21g + A22g
(v g )2 + 1 sin ((Ts Td ) g + )
(16)
(21)
(23)
ZHAO et al.: STABILITY AND PERFORMANCE LIMIT OF LATENCY-PRONE DISTRIBUTED FEEDBACK CONTROLLER
Using the plant (11), it can be shown (once more, we omit the
manipulations due to space constraints) that the aforementioned
equation results in the equality
(Bg ) + K
(v2 g2
+ 1) 2KBg M
= g2 (g m)2 + b2 v2 g2 + 1 . (24)
K
.
g = (1 + )
2
B K 2 v2
(1 + )2 (B + b)4
=
+
16 B 4 B 2 (B + b)4 v2 /m2
b
B
(34)
(26)
B > 2b
+
U
V
U V
(33)
(25)
16B 2 m2 (B + b)4 v2
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2
. (27)
(28)
(0, ) s.t.
B =m
(29)
(0, ) s.t.
B = b.
(30)
(35)
(1 + )2 1 + )4
1
U + V 2 U V
=
+ 2 . (31)
U V
16 4 (1 + )4 2 v2
(1 + )2 (1 + )4
.
16 4 (1 + )4 2 v2
(32)
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Fig. 5. Controller values meeting the gain crossover sensitivity condition. The surfaces show the range of feedback parameters that meet the gain
crossover sensitivity condition of (21). > 0 represents the excess gain ratio by which the condition is met. > 0 represents the ratio between
damping feedback gain and passive damping. [10, 400] is chosen to cover a wide range of actuator parameters. The surfaces demonstrate that
a wide range of practical gains meet the aforementioned gain crossover sensitivity condition. The values of the surfaces are solved by numerically
identifying the smallest real root of (31). In the bottom right surface, it can be seen that > 0 for > 2, meaning that the gain crossover sensitivity
condition is met if the ratio between damping feedback gain and passive damping is larger than two.
Fig. 6. Linear University of Texas (UT) actuator. This linear pushrod actuator has an effective output inertia of m = 256 kg and an approximate
passive damping of b = 1250 Ns/m.
Identical parameters to the real actuator are used for the simulation, thus allowing us to compare both side by side.
A. Step Response Implementation
First, a test is performed on the actuator, evaluating the
response to a step input on its position. The results are shown
in the bottom part of Fig. 7, which shows and compares the
performance of the real actuator versus the simulated closedloop controller. All the experimental tests are performed with
a 1-kHz servo rate. Additional feedback delays are manually
added by using a data buffer. A step input comprising desired
displacements between 0.131 and 0.135 m of the physical
pushrod length is sent to the actuator. The main reason for constraining the experiment to a small displacement is to prevent
current saturation of the motor driver. With very high stiffness,
it is easy to reach the 30-A limit for step responses. If current is
saturated, then the experiment will deviate from the simulation.
The step response is normalized between 0 and 1, for simplicity.
Various tests are performed for the same reference input with
varying time delays. In particular, large and small delays are
used for either or both the stiffness and damping loops. The
four combinations of results are shown in the figure with delay
values of 1 or 15 ms.
The first thing to notice is that there is a good correlation
between the real and the simulated results for both smooth and
oscillatory behaviors. Small discrepancies are attributed to unmodeled static friction and the effect of unmodeled dynamics.
More importantly, the experiment confirms the anticipated discrepancy in delay sensitivity between the stiffness and damping
loops. Large servo delays on the stiffness servo, corresponding
to subfigures (a) and (b), have small effects on the step response.
On the other hand, large servo delays on the damping servo,
corresponding to subfigures (c) and (d), strongly affect the
stability of the controller. In fact, for (c) and (d), the results
corresponding to fn = 12 Hz are omitted due to the actuator
quickly becoming out of control. In contrast, the experiment in
(b) can tolerate such high gains despite the large stiffness delay.
B. Distributed Operational Space Control of a Mobile
Base
As a concept proof of the proposed distributed architecture
on a multiaxis mobile platform, a Cartesian space feedback operational space controller (OSC) [9] is implemented on an omnidirectional mobile base. The original feedback controller was
implemented as a centralized process [35], with no distributed
topology at that time. The mobile base is equipped with a
centralized PC computer running Linux with the RTAI real-time
kernel. The PC connects with three actuator processors embedded next to the wheel drivetrains via EtherCAT serial communications. The embedded processors do not talk to each other.
The high-level centralized PC, on our robot, has a roundtrip
latency to the actuators of 7 ms due to process and bus communications, while the low-level embedded processors have a
ZHAO et al.: STABILITY AND PERFORMANCE LIMIT OF LATENCY-PRONE DISTRIBUTED FEEDBACK CONTROLLER
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Fig. 7. Step response experiment with the distributed controller. (a) (d) Various implementations on our linear rigid actuator corresponding to
the simulations depicted in Fig. 4. Overlapped with the data plots, simulated replicas of the experiments are also shown to validate the proposed
models. The experiments not only confirm the higher sensitivity of the actuator to damping than to stiffness delays but also indicate a good
correlation between the real actuator and the simulations.
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Fig. 8. Omnidirectional mobile base with distributed and centralized OSC controllers. As a proof of concept, we leverage the proposed distributed
architectures to our robotic mobile base, demonstrating significant improvements on tracking and stability.
ZHAO et al.: STABILITY AND PERFORMANCE LIMIT OF LATENCY-PRONE DISTRIBUTED FEEDBACK CONTROLLER
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Fig. 9. Detailed distributed operational space control structure. The figure illustrates details of the distributed OSC used for the mobile base tracking
ACKNOWLEDGMENT
The authors would like to thank the members of NASAs
Software, Robotics and Simulation Division during DARPAs
Robotics Challenge Trials, for their great help and support, and
the members of the Human Centered Robotics Laboratory at
The University of Texas at Austin.
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