Hostname: page-component-cd9895bd7-jn8rn Total loading time: 0 Render date: 2024-12-27T13:21:04.499Z Has data issue: false hasContentIssue false
  • English
  • Français

Control of Teleoperation Systems in the Presence of Varying Transmission Delay, Non-passive Interaction Forces, and Model Uncertainty

Published online by Cambridge University Press:  08 January 2021

Robab Ebrahimi Bavili ,
Ahmad Akbari  and
Reza Mahboobi Esfanjani Open the ORCID record for Reza Mahboobi Esfanjani [Opens in a new window]
Robab Ebrahimi Bavili
Affiliation:
Department of Electrical Engineering, Sahand University of Technology, Tabriz, Iran, E-mails: r.ebrahimi94@sut.ac.ir, a.akbari@sut.ac.ir
Ahmad Akbari
Affiliation:
Department of Electrical Engineering, Sahand University of Technology, Tabriz, Iran, E-mails: r.ebrahimi94@sut.ac.ir, a.akbari@sut.ac.ir
Reza Mahboobi Esfanjani*
Affiliation:
Department of Electrical Engineering, Sahand University of Technology, Tabriz, Iran, E-mails: r.ebrahimi94@sut.ac.ir, a.akbari@sut.ac.ir
*
*Corresponding author. E-mail: mahboobi@sut.ac.ir
Get access Rights & Permissions [Opens in a new window]

Summary

This paper addresses robust stability and position tracking problems in teleoperation systems subject to varying delay in the communication medium, uncertainties in the models of manipulators, and non-passive interaction forces in the terminations. Fixed-structure nonlinear control law is developed based on the notion of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) scheme. Then, utilizing the Lyapunov–Krasovskii theorem, sufficient conditions are derived in terms of Linear Matrix Inequalities (LMIs) to tune the controller parameters. Differently from literature, the objectives are achieved without requirement for any passive parts in the model of interaction forces. Comparative simulations and experimental results demonstrate the applicability and superiority of the proposed method.

Keywords

Bilateral teleoperation systemModel uncertaintyNon-passive operator and environmentAsymptotic stabilityPassivity-based controller
Type
Article
Information
Robotica , Volume 39 , Issue 8 , August 2021 , pp. 1451 - 1467
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Hokayem, P. and Spong, M., “Bilateral teleoperation: An historicalsurvey,” Automatica 42(12), 2035–2057 (2006).Google Scholar
Kuzu, A. and Baran, E. A., “Improved bilateral teleoperation with proactive haptic sensing and transmission,” Proc. IMechE Part I: J. Syst. Cont. Eng. 232(1), 79–91 (2017).Google Scholar
Nuno, E., Basanez, L. and Ortega, R., “Passivity-Based control for bilateral teleoperation: A tutorial,” Automatica 47(3), 485–495 (2011).CrossRefGoogle Scholar
Arcara, P. and Melchiorri, C., “Control schemes for teleoperation with time delay: A comparative study,” Robot. Autom. Syst. 38(1), 49–64 (2002).CrossRefGoogle Scholar
Hu, H. C. and Liu, Y. C., “Passivity-Based control framework for task-space bilateral teleoperation with parametric uncertainty over unreliable networks,” ISA Trans. 70, 187–199 (2017).CrossRefGoogle ScholarPubMed
Liu, X., Tao, R. and Tavakoli, M., “Adaptive control of uncertain nonlinear teleoperation systems,” Mechatronics 24(1), 66–78 (2014).CrossRefGoogle Scholar
Yang, Y., Hua, C. and Guan, X., “Coordination control for bilateral teleoperation with kinematics and dynamics uncertainties,” Robot. Comput-Integr. Manu. 30(2), 180–188 (2014).CrossRefGoogle Scholar
Nuno, E., Ortega, R., Basanez, L. and Barabanov, N., “An adaptive controller for nonlinear bilateral teleoperators,” Automatica 46(1), 155–159 (2010a).CrossRefGoogle Scholar
Leung, G., Francis, B. and Apkarian, J., “Bilateral controller for teleoperators with time delay via mu-synthesis,” IEEE Trans. Robot. Autom. 11(1), 105–116 (1995).CrossRefGoogle Scholar
Colgate, J., “Robust impedance shaping telemanipulation,” IEEE Trans. Robot. Autom. 9(4), 374–384 (1993).CrossRefGoogle Scholar
Sirouspour, S., “Modeling and control of cooperative teleoperation systems,” IEEE Trans. Robot. 21(6) 1220–1225 (2005).CrossRefGoogle Scholar
Mohammadi, L., Alfi, A. and Xu, B., “Robust bilateral control for state convergence in uncertain teleoperation systems with time-varying delay: Aguaranteed cost control design,” Nonlinear Dyn. 88(2), 1413–1426 (2017).CrossRefGoogle Scholar
Shahdi, A. and Sirouspour, Sh., “Adaptive/robust control for time-delay teleoperation,” IEEE Trans. Robot. 25(1), 196–205 (2009).CrossRefGoogle Scholar
Sharifi, I., Talebi, H. A. and Motaharifar, M., “Robust output feedback controller design for time-delayed teleoperation: Experimental results,” Asian J. Cont. 19(2), 1–11 (2017).Google Scholar
Sun, D., Liao, Q. and Ren, H., “Type-2 fuzzy modeling and control for bilateral teleoperation system with dynamic uncertainties and time-varying delays,” IEEE Trans. Ind. Elec. 65(1), 447–459 (2017).CrossRefGoogle Scholar
Dinh, T. Q. et al., “Sensorless force feedback joystick control for teleoperation of construction equipment,” Int. J. Precision Eng. Manu. 8(7), 955–996 (2017).CrossRefGoogle Scholar
Dyck, M., Jazayeri, A. and Tavakoli, M., “Is the Human Operator in a Teleoperation System Passive?” Proceeding of the IEEE world Haptics Conference (2013) pp. 683–688.Google Scholar
Hashemzadeh, F. and Tavakoli, M., “Position and force tracking in nonlinear teleoperation system under varying delays,” Robotica 33(4), 1003–1016 (2015).CrossRefGoogle Scholar
Ganjefar, S., Rezaei, S. and Hashemzadeh, F., “Position and force tracking in nonlinear teleoperation systems with sandwich linearity in actuators and time-varying delay,” Mech. Syst. Signal Process. 86(part A), 308–324 (2017).CrossRefGoogle Scholar
Hua, C. and Liu, P. X., “Convergence analysis of teleoperation systems with unsymmetric time-varying delays,” IEEE Trans. Circ. Syst. II 56(3), 240–244 (2009).Google Scholar
Jazayeri, A. and Tavakoli, M., “Bilateral teleoperation system stability with non-passive and strictly passive operator or environment,” Cont. Eng. Pract. 40, 45–60 (2015).CrossRefGoogle Scholar
Islam, SH., Liu, P. X. and El Saddik, A., “Nonlinear control for teleoperation systems with time varying delay,” Nonlinear Dyn. 76, 931–954 (2014).CrossRefGoogle Scholar
Islam, SH., Liu, P. X., Saddik, A. E. L. and Dias, J., “Bilateral shared autonomous systems with passive and non-passive input forces under time varying delay,” ISA Trans. 54, 218–228 (2015).CrossRefGoogle Scholar
Ortega, R. and Garcia-Canseco, E., “Interconnection and damping assignment passivity-based control: A survey,” Eur. J. Cont. 10(5), 432–450 (2004).CrossRefGoogle Scholar
Hatanaka, T., Chopra, N., Fujita, M. and Spong, M. W., Passivity-Based Control and Estimationin Networked Robotics (Springer International, Switzerland, 2015).Google Scholar
Erlic, M. and Lu, W. S., “Manipulator Control with an Exponentially Stable Velocity Observer,” Proceeding of the IEEE American Control Conference (1992) pp. 1241–1242.Google Scholar