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

Yang, Yanyan; Yang, Yahui; Li, Xiaolei; Chen, Hua

doi:10.1002/rnc.6466

Cited by 7 publications

(5 citation statements)

References 38 publications

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“…In future, on one hand, the Zames–Falb multipliers method will be applied to derive less conservative delay-dependent stability conditions. On the other hand, considering the more practical network transmission, the discrete-time network communication will be considered for teleoperation system (Yang et al, 2022b).…”

Section: Discussionmentioning

confidence: 99%

“…In future, on one hand, the Zames-Falb multipliers method will be applied to derive less conservative delay-dependent stability conditions. On the other hand, considering the more practical network transmission, the discrete-time network communication will be considered for teleoperation system (Yang et 2022b). Natural Science Foundation of China (grant numbers 61933009, 62073276), in part by Natural Science Foundation of Hebei Province (F2022203036, F2021203109, F202020 3062, F2021203054).…”

Section: Discussionmentioning

confidence: 99%

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New delay-dependent position/force hybrid controller design for uncertain telerobotics without force sensors

Yang

et al. 2023

Transactions of the Institute of Measurement and Control

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In this article, a new position/force hybrid control strategy is proposed for a class of uncertain bilateral telerobotics systems under time-varying communication delays. This control approach features the capability of removing the use of force sensors and relaxing the assumption on external forces. Specially, the proposed terminal sliding mode (TSM)-based force observer can estimate human force and environment force in a fixed time by applying a variable exponent coefficient, which effectively avoids the temporal problems of other existing force observers. By embedding the estimated force information, corresponding position/force hybrid controller is designed to ensure transparency and stability of system, which can be evaluated by the position synchronization in the slave and the force repeated in the master. Furthermore, by selecting Lyapunov–Krasovskii functional, it proves the stability of the bilateral telerobotics system under particular linear matrix inequality (LMI) conditions. The proposed stability criterion can serve to calculate the maximum allowable transmission delay with the given controller parameters; thus, the conservativeness is reduced. Finally, simulation comparison results and experimental results demonstrate the superior performance of the proposed position/force hybrid controller under different external forces.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

New delay-dependent position/force hybrid controller design for uncertain telerobotics without force sensors

Yang

et al. 2023

Transactions of the Institute of Measurement and Control

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“…This will hurt the overall construction quality of the engineering machinery, greatly reducing the accuracy of mechanical operation. However, if BIM technology is used to correct Voice of the Publisher basic parameters, It can greatly improve the accuracy of data analysis and also select the correct mechanical equipment according to the analysis results (Szymkowicz et al, 2023;Yang et al, 2022). Thirdly, materials and costs.…”

Section: Information Modeling Technology For Communication Electromec...mentioning

confidence: 99%

Research on Construction Technology of Communication Mechanical and Electrical Engineering

Zhang,

Wu,

Chen

2024

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Research on Construction Technology of Communication Mechanical andElectrical Engineering Today, with the accelerated development of communication engineering, the mechanical and electrical industry, as an important pillar industry of the national economy, has rapidly developed, laying a good foundation for the construction of mechanical and electrical engineering. In this context, the quality control of mechanical and electrical engineering construction has become an urgent task, and it is necessary to strengthen the unified management of mechanical and electrical equipment to ensure the installation and overall quality of mechanical and electrical equipment. The article starts with the entire process of mechanical and electrical engineering construction, analyzes in detail the factors that affect the quality of mechanical and electrical engineering construction, and proposes specific quality control methods, hoping to provide some reference for the quality management of communication mechanical and electrical engineering construction.

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“…In order to display the effect of the experiment better, by sensing the stiffness of the operation object directly and avoiding blocking the stepper motor of the slave manipulator with an insufficient force contacting the force sensor, the virtual force, f e , is formulated instead of the real slave operation force measurement. The slave feedback force is considered as linear function of the slave rotation joint position, which is expressed as Equation (32). The operation object is seen as a spring, and the greater the rotation angle is, the greater is the feedback force.…”

Section: Experimental Verificationmentioning

confidence: 99%

“…Hongjiu Yang proposed a continuous terminal sliding mode control (CTSMC) strategy based on an extended state observer (ESO) and a time-delay part observer to achieve the master and slave position tracking performance in bilateral teleoperation systems [31]. Yanna Yang proposed the synchronization control problem of an uncertain single-master multislave (SMMS) teleoperation system, in which every subsystem is connected with each other via a directed constrained communication network [32]. In paper [11], the synchronization tracking control issue is investigated for uncertain teleoperation systems with input saturation and output error constraints.…”

Section: Introductionmentioning

confidence: 99%

The Adaptive Bilateral Control of Underwater Manipulator Teleoperation System with Uncertain Parameters and External Disturbance

Zhang,

Xia,

et al. 2024

Electronics

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A novel self-adaptive bilateral control strategy is introduced to manage uncertainties inherent in the teleoperation of an underwater manipulator system effectively. In response to uncertainties stemming from both the mathematical model and external disturbances, our approach offers innovative solutions. Firstly, to address uncertainties in the master model parameters, we propose a reference adaptive impedance control based on a nominal model. This control strategy dynamically adjusts the reference position of the desired model, leveraging adaptive control laws to compensate for model uncertainties. Additionally, to tackle uncertainties specific to the slave manipulator, we employ adaptive compensation using radial basis function (RBF) networks. Our unique combination of sliding mode variable structure controllers and robust adaptive controllers aims to mitigate approximation errors, ensuring precise tracking of the master manipulator’s position by the slave manipulator. By employing Lyapunov function analysis, we demonstrate the system’s superior tracking performance and global stability, with assured asymptotic convergence for force–position tracking. Through comprehensive experimentation, our results showcase the exceptional force–position tracking capabilities of the overall control system, even under challenging conditions of model uncertainties and external disturbances. Moreover, our system exhibits remarkable stability, reliability, and robustness, underscoring the effectiveness of our proposed adaptive control approach.

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

Cited by 7 publications

References 38 publications

New delay-dependent position/force hybrid controller design for uncertain telerobotics without force sensors

New delay-dependent position/force hybrid controller design for uncertain telerobotics without force sensors

Research on Construction Technology of Communication Mechanical and Electrical Engineering

The Adaptive Bilateral Control of Underwater Manipulator Teleoperation System with Uncertain Parameters and External Disturbance

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