Adaptive stabilization of nonlinear teleoperation systems: An SIIOS approach

Zhai, Di‐Hua; Xia, Yuanqing

doi:10.1002/rnc.3528

Cited by 9 publications

(11 citation statements)

References 38 publications

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“…thus by Barbalat's Lemma, we have qm (t) → 0, qsi (t) → 0 as t → ∞. Furthermore, by (13)(14), we know that q m (t) −…”

Section: A Rr Protocolmentioning

confidence: 88%

“…al. [14] investigated a new IOS framework based on state-independent IOS for nonlinear teleoperation systems with asymmetric timevarying delays, where a switched filter-based control method was developed. Some other advanced control strategies like predictive control [15], optimal control [16], [17], intelligent control based on fuzzy logic [18], [19] or neural networks [20], [21], [22], prescribed-performance-based control [23], [24], etc., have also been developed to deal with other various aspects of teleoperation systems with delays, such as finitetime stability [25], [23], guaranteed synchronization performance [16], [23], [24], [26], input saturation [27], [28], [29], model uncertainties [30], [31], brain-machine-interface-based teleoperation [32].…”

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confidence: 99%

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Bilateral Teleoperation of Multiple Robots Under Scheduling Communication

Liu

et al. 2020

IEEE Trans. Contr. Syst. Technol.

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In this paper, bilateral teleoperation of multiple slaves coupled to a single master under scheduling communication is investigated. The sampled-data transmission between the master and the multiple slaves is fulfilled over a delayed communication network, and at each sampling instant, only one slave is allowed to transmit its current information to the master side according to some scheduling protocols. To achieve the masterslave synchronization, Round-Robin scheduling protocol and Try-Once-Discard scheduling protocol are employed, respectively. By designing a scheduling-communication-based controller, some sufficient stability criteria related to the controller gain matrices, sampling intervals, and communication delays are obtained for the closed-loop teleoperation system under Round-Robin and Try-Once-Discard scheduling protocols, respectively. Finally, simulation studies are given to validate the effectiveness of the proposed results.

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“…thus by Barbalat's Lemma, we have qm (t) → 0, qsi (t) → 0 as t → ∞. Furthermore, by (13)(14), we know that q m (t) −…”

Section: A Rr Protocolmentioning

confidence: 88%

mentioning

confidence: 99%

Bilateral Teleoperation of Multiple Robots Under Scheduling Communication

Liu

et al. 2020

IEEE Trans. Contr. Syst. Technol.

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“…For the SMSS bilateral teleoperation system, the goal of most previous studies is to realize the position synchronization of the master and slave, that is, q s → q m , where q m and q s are the position of the mater and slave, respectively. 2,6,8,12,13 In this paper, on the basis of the reference model, our objective is to design the control schemes such that…”

Section: Problem Statementmentioning

confidence: 99%

“…Consider the SMMS system (1) and suppose that the Assumptions 1, 2, 3 hold. For master and all slaves, the control schemes are designed as ( 9) with (2) (7) (8). Then (1) when F h ≠ 0, the synchronization errors of the system are bounded; (2) when F h = 0, master and all slaves synchronize in the sense of (4).…”

Section: Stability Analysis Of the Control Schemementioning

confidence: 99%

Adaptive synchronization control of multimanipulator teleoperation system under constrained discrete‐time network communication

Yang

et al. 2022

Intl J Robust & Nonlinear

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This paper addresses the synchronization control problem of uncertain single‐master multislave (SMMS) teleoperation system in which every subsystem is connected with each other via a directed constrained communication network. The data exchanges in the channel are discrete in time, intermittent in presence of irregular delays and packet loss, which make the synchronization problem more challenging and still not be well explored. We propose a new adaptive control scheme based on the virtual model and the original dynamic compensator entailing synchronization of all the subsystems under the limited communication. The most recently transmitted information is used to construct the control signal during sampling interval or the period of data loss. The validity of the control approach designed is verified by some simulation results.

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“…In this paper, the RBF NNs are employed to approximate the uncertain nonlinear function F (z) [57], [58], and the following lemmas are given.…”

Section: Rbf Neural Networkmentioning

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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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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Adaptive stabilization of nonlinear teleoperation systems: An SIIOS approach

Cited by 9 publications

References 38 publications

Bilateral Teleoperation of Multiple Robots Under Scheduling Communication

Bilateral Teleoperation of Multiple Robots Under Scheduling Communication

Adaptive synchronization control of multimanipulator teleoperation system under constrained discrete‐time network communication

Teleoperation Control Based on Combination of Wave Variable and Neural Networks

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