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Discrete-time control of bilateral teleoperation systems: a review

Published online by Cambridge University Press:  04 December 2017

Amir Aminzadeh Ghavifekr ,
Amir Rikhtehgar Ghiasi  and
Mohammad Ali Badamchizadeh
Amir Aminzadeh Ghavifekr
Affiliation:
Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran E-mails: aa.ghavifekr@tabrizu.ac.ir, agiasi@tabrizu.ac.ir
Amir Rikhtehgar Ghiasi
Affiliation:
Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran E-mails: aa.ghavifekr@tabrizu.ac.ir, agiasi@tabrizu.ac.ir
Mohammad Ali Badamchizadeh*
Affiliation:
Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran E-mails: aa.ghavifekr@tabrizu.ac.ir, agiasi@tabrizu.ac.ir
*
*Corresponding author. E-mail: mbadamchi@tabrizu.ac.ir
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Summary

The possibility of operating in remote environments using teleoperation systems has been considered widely in the control literature. This paper presents a review on the discrete-time teleoperation systems, including issues such as stability, passivity and time delays. Using discrete-time methods for a master-slave teleoperation system can simplify control implementation. Varieties of control schemes have been proposed for these systems and major concerns such as passivity, stability and transparency have been studied. Recently, unreliable communication networks affected by packet loss and variable transmission delays have been received much attention. Thus, it is worth considering discrete-time theories for bilateral teleoperation architectures, which are formulated on the same lines as the continuous-time systems. Despite the extensive amount of researches concerning continuous-time teleoperation systems, only a few papers have been published on the analysis and controller design for discrete bilateral forms. This paper takes into account the challenges for the discrete structure of bilateral teleoperation systems and notifies the recent contributions in this area. The effect of sampling time on the stability-transparency trade-off and the task performance is taken into consideration in this review. These studies can help to design guidelines to have better transparency and stable teleoperation systems.

Keywords

Teleoperation systemsSampled data controlDiscrete-time controlPassivityAbsolute stabilityTransparencyZero-order hold
Type
Articles
Information
Robotica , Volume 36 , Issue 4 , April 2018 , pp. 552 - 569
Copyright
Copyright © Cambridge University Press 2017 

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