A novel control scheme for teleoperation with guaranteed performance under time-varying delays

Zhang, Bo; Kruszewski, Alexandre; Richard, Jean‐Pierre

doi:10.1109/ccdc.2011.5968191

Cited by 4 publications

(4 citation statements)

References 18 publications

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“…The present work addresses this last open problem under time-varying delays. We generalize a previous result on a bilateral state feedback control structure (Zhang et al 2011) to allow position tracking under asymmetric and time-varying delays. From this result, we present a new control structure and prove the stability of the closed-loop system by Lyapunov approaches, especially, Lyapunov-Krasovskii functionals (LKF), which can be solved by Linear Matrix Inequalities (LMI, see (Fridman 2006) and the references therein).…”

Section: Introductionsupporting

confidence: 56%

“…From (Zhang et al 2011), we can see that, J(w) < 0 holds if (6) is negative. We apply Jensen's inequality (Gu et al 2003):…”

Section: Introductionmentioning

confidence: 96%

“…Let us give a short recall of the bilateral state feedback control scheme given in (Zhang et al 2011). Note that ignoring the details of master and slave controllers, this scheme corresponds to • Master controller and slave controller are the global controllers we should design so to ensure both the asymptotic stability of the whole system and the position/force tracking between the master and the slave (in Figure 1, C 1 and C 2 are the global controllers that we should design).…”

Section: Introductionmentioning

confidence: 99%

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A novel control design for delayed teleoperation based on delay-scheduled Lyapunov–Krasovskii functionals

Zhang

Kruszewski

Richard

2014

International Journal of Control

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This paper addresses the controller design problem for bilateral teleoperation over unreliable networks. The stability and tracking performance analysis are presented for a novel force-reflecting emulator control scheme. The performance (stability, synchronization, transparency) is guaranteed by H∞ control theory and delayscheduled Lyapunov-Krasovskii functionals (LKF), which could improve the existing stability criterion. The design is achieved by using Linear Matrix Inequality (LMI) optimization. For the simulation, firstly, numerical examples are given to demonstrate the effectiveness and benefits of the delay-scheduled LKF-based stability results; secondly, the proposed controller design solution is illustrated by various simulations and compared with other recent approaches under different working conditions, e.g. abrupt tracking motion and wall contact.

show abstract

Section: Introductionsupporting

confidence: 56%

“…From (Zhang et al 2011), we can see that, J(w) < 0 holds if (6) is negative. We apply Jensen's inequality (Gu et al 2003):…”

Section: Introductionmentioning

confidence: 96%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A novel control design for delayed teleoperation based on delay-scheduled Lyapunov–Krasovskii functionals

Zhang

Kruszewski

Richard

2014

International Journal of Control

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“…• The position-position teleoperation: the impedance-shaping term can also be used in the position-position control architecture [92]. • It is possible that the mixed information is utilized, e.g., the position/velocity/force [94] or the position/velocity-position/velocity [93] teleoperation, which will be presented in this book. • It is possible that the mixed information is utilized, e.g., the position/velocity/force [94] or the position/velocity-position/velocity [93] teleoperation, which will be presented in this book.…”

Section: Control Issues In Teleoperationmentioning

confidence: 99%

Intelligent Networked Teleoperation Control

Xia

2015

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PrefaceThis book describes a unifying framework to networked teleoperation systems cutting across multiple research fields including networked control system for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation, cooperative teleoperation, and some teleoperation application examples. Networked control has been deeply studied at the intersection of systems & control and robotics for a long time, and many scholarly books on the topic have been already published. Nevertheless, the approach remains active even in several new research fields, such as bilateral teleoperation, single master and multiple slaves, trilateral teleoperation, and multilateral teleoperation. Indeed, all the targeted problems of this book are rather new from a historical point of view and, to the best of our knowledge, there is no book or article covering such a broad class of problems within a unified teleoperation framework.Although networked teleoperation control and applications have attracted much research attention in the past decade, many fundamental problems are still either unexplored or less well understood. In particular, there still lacks a comprehensive framework that can cope with all the core issues in a systematic way. This motivated us to write the current monograph.The book presents theoretical explorations on several fundamental problems for several kinds of teleoperations. By integrating fresh concepts and state-of-the-art results to form a systematic approach for the motion control and identification, a fundamental theoretical framework is formed toward teleoperation systems. This book shall educate readers about the fundamental advances in the networked teleoperation research area. It is expected that the reader will require limited background knowledge to understand the various concepts and results outlined in the book. Besides elegantly unifying disparate problems, the networked teleoperation control approach also leads to practical advantages over other approaches, which will also be a benefit to readers. In the teleoperation part, readers will observe the inherent robustness of the networked controller against communication delays. Finally, a notable feature of this book is to provide not only theoretical results and techniques but also experimental case studies on a testbed of robotic systems, which is anticipated to highly motivate young students and researchers. v vi Preface careful scrutiny. We would also like to express our sincere appreciation to our co-workers who have contributed to the collaborative studies of Robotics. We are greatly indebted to our parents and families for their love, support, and sacrifice over the years. It is our pleasure to dedicate the book to them for their invisible yet invaluable contribution.

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Tracking improvement based on the proxy control scheme for bilateral teleoperation system under time-varying delays

2011

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This paper addresses the problem of the position/force tracking in teleoperation system and proposes a haptic proxy control scheme. Compared to previous works, communication delays are assumed to be both time-varying and asymmetric, and the response of the synchronization and the transparency are improved. The control design is performed using Linear Matrix Inequality (LMI) optimization based on Lyapunov-Krasovskii functionals (LKF) and H ∞ control theory. With the designed controllers, the simulations of different working conditions, such as abrupt motion and wall contact, are performed and show the effectiveness of the proposed solution.

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A novel control scheme for teleoperation with guaranteed performance under time-varying delays

Cited by 4 publications

References 18 publications

A novel control design for delayed teleoperation based on delay-scheduled Lyapunov–Krasovskii functionals

A novel control design for delayed teleoperation based on delay-scheduled Lyapunov–Krasovskii functionals

Intelligent Networked Teleoperation Control

Tracking improvement based on the proxy control scheme for bilateral teleoperation system under time-varying delays

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