Adaptive Fuzzy Control of Multilateral Asymmetric Teleoperation for Coordinated Multiple Mobile Manipulators

Zhai, Di‐Hua; Xia, Yuanqing

doi:10.1109/tfuzz.2015.2426215

Cited by 97 publications

(42 citation statements)

References 26 publications

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“…6 is passive [9]. When the delays are time varying, the proof for the system passivity is nontrivial and far more complicated than (17). It will be discussed in detail later in Section III.…”

Section: F Model Of the Communication Channelsmentioning

confidence: 99%

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Teleoperation Control Based on Combination of Wave Variable and Neural Networks

Yang

Wang

et al. 2017

IEEE Trans. Syst. Man Cybern, Syst.

312

169

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Abstract-In this paper, a novel control scheme is developed for a teleoperation system, combining the radial basis function (RBF) neural networks (NNs) and wave variable technique to simultaneously compensate for the effects caused by communication delays and dynamics uncertainties. The teleoperation system is set up with a TouchX joystick as the master device and a simulated Baxter robot arm as the slave robot. The haptic feedback is provided to the human operator to sense the interaction force between the slave robot and the environment when manipulating the stylus of the joystick. To utilize the workspace of the telerobot as much as possible, a matching process is carried out between the master and the slave based on their kinematics models. The closed loop inverse kinematics (CLIK) method and RBF NN approximation technique are seamlessly integrated in the control design. To overcome the potential instability problem in the presence of delayed communication channels, wave variables and their corrections are effectively embedded into the control system, and Lyapunov based analysis is performed to theoretically establish the closed-loop stability. Comparative experiments have been conducted for a trajectory tracking task, under the different conditions of various communication delays. Experimental results show that in terms of tracking performance and force reflection, the proposed control approach shows superior performance over the conventional methods.

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Section: F Model Of the Communication Channelsmentioning

confidence: 99%

“…The adaptive control method for robots has been studied in a considerable number of works [14]- [16], which could be used in the situations of unknown parameters and time-varying parameters in the robot model [17], [18]. Time-varying delays and uncertainties of the robot model have been studied together with adaptive control in [19], [20].…”

Section: Introductionmentioning

confidence: 99%

Teleoperation Control Based on Combination of Wave Variable and Neural Networks

Yang

Wang

et al. 2017

IEEE Trans. Syst. Man Cybern, Syst.

312

169

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“…Otra vertiente de investigación sería aplicar el conocimiento adquirido durante el desarrollo de este trabajo a otros sistemas mecatrónicos; por ejemplo RMRs tipo tractorremolque [43], robots móviles aéreos [44], robots móviles de patas [45], robots manipuladores móviles teleoperados [46], brazos robóticos [47], por mencionar algunos.…”

Section: Conclusionesunclassified

Assessment of an Average Tracking Controller that Considers all the Subsystems Involved in a WMR: Implementation via PWM or Sigma-Delta Modulation

Sánchez

Tavera-Mosqueda

Silva‐Ortigoza

et al. 2016

IEEE Latin Am. Trans.

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This paper has two aims; the first, to present the design of a three-level average controller (that do not require electromechanical sensors) for the trajectory tracking task in a differential drive wheeled mobile robot (WMR). Such a controller considers, for the first time in literature, the dynamics of the three subsystems composing a WMR, i.e., mechanical structure, actuators, and power stage. The proposed controller is designed as follows: At the high level, a kinematic control for the mechanical structure is proposed. At the medium level, a control based on differential flatness for the actuators is presented. And at the low level, an average flatness control for the power is proposed. The second aim of this paper is to present an assessment, via numerical simulations using MATLAB-Simulink, of the three-level average controller performance when it is implemented using a PWM or a Σ-Δ-modulator. In these simulations the robustness of the controller is shown when multiple abrupt variations are considered in some parameters of the WMR.

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“…However, if object dynamics is considered, our proposed scheme will apply mutatis-mutandis in virtue of it suffices to include object dynamics to obtain an extended homogeneous OMM system that fulfills the very same structural properties established in subsection III-B. Specifically, this can be obtained following very similar steps to include object dynamics, see for instance [14].…”

Section: Introductionmentioning

confidence: 99%

“…In [13] stable position and force errors are achieved without using the regressor but considering constrained object, friction and motor dynamics; however requiring estimates of inertial matrices of manipulator and object and a discontinuous control is proposed, without guaranteeing convergence of force error. Complex arrangements for this system have been studied, including under a teleoperation scheme based on the regressor and discontinuous control, [14], and parameter estimation based on noisy measurements, [15], yet the cooperative control with force convergence remain an open issue.…”

Section: Introductionmentioning

confidence: 99%

Cooperative redundant omnidirectional mobile manipulators: Model-free decentralized integral sliding modes and passive velocity fields

Ponce-Hinestroza

Castro-Castro

Guerrero-Reyes

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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An omnidirectional mobile manipulator (OMM) provides extended capabilities to a robotic system since it enlarges its workspace at the expense of an omnidirectional mobile base, which is nowadays a reality. When various OMM transport an object, the resultant constrained OMM dynamics is quite complex that demands effective control schemes without neglecting dominant nonlinear effects nor interaction forces. In this paper, it is proposed a decentralized cooperative control for a set of k OMMs (k-OMM) subject to homogeneous holonomic constraints imposed by the object being manipulated. A chatterless integral sliding mode force-position control guarantees exponential tracking whose implementation does not require any knowledge of dynamics. This controller is decentralized in a sense that neither dynamics nor interaction forces of the i-OMM are required for the j-controller, and it is cooperative by correcting collectively the velocity deviation due to the pushing of the other j-OMM. Each omnidirectional base provides object mobility along passive smooth velocity fields to avoid obstacles on the floor, which is synthesized as the secondary task when resolving redundancy, and the force control stabilizes internal forces to ensure object grasp, which are declared together with end-effector position, as the primary task. Simulations are discussed for two 8-DoF Kuka youBot OMM system navigating in a cluttered environment.

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Adaptive Fuzzy Control of Multilateral Asymmetric Teleoperation for Coordinated Multiple Mobile Manipulators

Cited by 97 publications

References 26 publications

Teleoperation Control Based on Combination of Wave Variable and Neural Networks

Teleoperation Control Based on Combination of Wave Variable and Neural Networks

Assessment of an Average Tracking Controller that Considers all the Subsystems Involved in a WMR: Implementation via PWM or Sigma-Delta Modulation

Cooperative redundant omnidirectional mobile manipulators: Model-free decentralized integral sliding modes and passive velocity fields

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