A robust multilateral shared controller for dual-user teleoperation systems

Khademian, Behzad; Hashtrudi-Zaad, Keyvan

doi:10.1109/ccece.2008.4564869

Cited by 21 publications

(16 citation statements)

References 10 publications

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“…This strategy is proper in terms of internal forces, however, causes off-balance control mechanism between the slave systems and thence, failure in tool positioning. Furthermore, researchers have dealt with the collaboration issues in multi-master teleoperation systems, but no uncertainty has been considered [12], [13]. A control strategy proposed in [14] for SMMS teleoperation systems does not cope with neither network uncertainties, nor kinematic constraints in the remote workspace.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Synchronisation of a Single-Master Multi-Slave Teleoperation System over Delayed Communication

Kebria

Khosravi

Nahavandi

et al. 2019

2019 IEEE International Conference on Industrial Technology (ICIT)

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Considering communication delays in networked multi-robot teleoperation systems, this paper proposes a new control strategy for synchronisation and stability purposes. A single-master and multi-slave (SMMS) networked robotic teleoperation system is considered. Based on a sliding surface combined with a smooth filtering and estimation methodology, a robust adaptive control is developed to guarantee the synchronisation and stability of the system in the presence of network-induced time-varying delays. Extensive simulation studies demonstrate the effectiveness of the developed control scheme.

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Section: Introductionmentioning

confidence: 99%

Robust Adaptive Synchronisation of a Single-Master Multi-Slave Teleoperation System over Delayed Communication

Kebria

Khosravi

Nahavandi

et al. 2019

2019 IEEE International Conference on Industrial Technology (ICIT)

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“…In effect, they can be considered n × 4 -channel controllers where n is the number of robots. Sometimes communication among the master robots is omitted, for instance, a two-channel force-position-based robust multilateral control architecture was proposed in [13]. In this architecture, two master robots communicate with the slave only and receive slave position measurements and the slave robot receives master force measurements.…”

Section: Introductionmentioning

confidence: 99%

Three-channel control architecture for multilateral teleoperation under time delay

Tümerdem¹

2019

Turk J Elec Eng & Comp Sci

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Multilateral teleoperation is an extension of bilateral/haptic teleoperation framework to multiple operators/robots and finds applications in haptic training. As in bilateral teleoperation, time delay is an important problem, and stability and transparency, which quantifies the performance of the teleoperation system, are critical in the design of multilateral control systems. This paper proposes a novel three-channel-based multilateral control architecture with damping injection to guarantee delay-independent L2 stability and high transparency in multilateral teleoperation systems. The theoretical and computational analyses are verified with experiment results.

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“…A similar analysis has been performed in the study by Lin and Namerikawa 35 for bilateral teleoperation and in the study by Khademian and HashtrudiZaad 15 for multilateral teleoperation. However, Khademian and Hashtrudi-Zaad 15 have performed such an analysis for the multilateral teleoperation system without time delay. As we will demonstrate, it is possible to accommodate delays in robust stability analysis of the multilateral teleoperation system.…”

Section: Robust Stability Analysismentioning

confidence: 99%

“…Multilateral teleoperation systems have drawn attention especially because of their application in haptic training. Khademian and Hashtrudi-Zaad 15 have proposed a robust multilateral control architecture, Tumerdem and Ohnishi 16 have utilized consensus algorithms for multilateral teleoperation on changing network topologies, and Tumerdem and Ohnishi 17 have proposed a solution for multilateral teleoperation under time delay with damping injection. However, Tumerdem and Ohnishi 17 do not provide an analytic stability proof for choosing the controller parameters, and furthermore, the proposed analysis method cannot accommodate asymmetric time delays, delays that are not identical on the communication channels.…”

Section: Introductionmentioning

confidence: 99%

“…Furthermore, no paper in the literature has performed a stability analysis by making use of robust control theory for multilateral teleoperation systems under time delay. Sirouspour 11 has proposed a analysis and synthesis method for cooperative teleoperation without time delay, and Khademian and Hashtrudi-Zaad 15 have proposed a robust stability analysis and H 1 robust control method for dual user single master teleoperation without time delay.…”

Section: Introductionmentioning

confidence: 99%

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Multilateral teleoperation under asymmetric time delays: L₂ stability and robustness

Tümerdem

2017

International Journal of Advanced Robotic Systems

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Multilateral teleoperation is the general name given to haptic teleoperation with multiple robots and operators. It is the generalization of two robot bilateral teleoperation systems to N robots. One of the applications of multilateral teleoperation is haptic training, where multiple operators can move multiple master robots, and in consensus, they can control a single slave robot. This enables the operators to influence each other's motion with their force inputs and a more experienced operator can instruct/train a novice operator for teleoperation. In multilateral systems, existence of multiple robots and multiple communication channels between robots poses difficulties in the analysis of stability and control design. Because of the distributed nature of the problem, and especially in the presence of time delays in the communication links between robots, stability of the networked system becomes harder to guarantee. This article presents a method for checking the L 2 stability of multilateral teleoperation systems with N robots and symmetric or asymmetric time delays between them. Following this, a scalable four-channel-based distributed control law is proposed under the light of the proposed stability criterion which can guarantee delay-independent stability and enable highperformance haptic teleoperation. Furthermore, robust stability of the proposed control architecture is shown using analysis. Finally, theoretical results are validated with experiments that include comparisons of the proposed method with two-channel-based passive and absolutely stable systems.

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A robust multilateral shared controller for dual-user teleoperation systems

Cited by 21 publications

References 10 publications

Robust Adaptive Synchronisation of a Single-Master Multi-Slave Teleoperation System over Delayed Communication

Robust Adaptive Synchronisation of a Single-Master Multi-Slave Teleoperation System over Delayed Communication

Three-channel control architecture for multilateral teleoperation under time delay

Multilateral teleoperation under asymmetric time delays: L₂ stability and robustness

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A robust multilateral shared controller for dual-user teleoperation systems

Cited by 21 publications

References 10 publications

Robust Adaptive Synchronisation of a Single-Master Multi-Slave Teleoperation System over Delayed Communication

Robust Adaptive Synchronisation of a Single-Master Multi-Slave Teleoperation System over Delayed Communication

Three-channel control architecture for multilateral teleoperation under time delay

Multilateral teleoperation under asymmetric time delays: L2 stability and robustness

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Multilateral teleoperation under asymmetric time delays: L₂ stability and robustness