An Improved Extended Active Observer for Adaptive Control of A n
            −DOF Robot Manipulator

Chan, Linping; Naghdy, Fazel; Stirling, David

doi:10.1007/s10846-016-0402-8

Cited by 13 publications

(6 citation statements)

References 21 publications

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“…At the slave sides, each gripper attaches one Flexiforce pressure sensor to measure the environmental contact force. At the master sides, since adding force sensors may interfere human operating the manipulators, the force observer proposed in [41], which uses the extended Kalman filter to suppress external noises, is applied to the haptic devices in order to estimate the human force, and Type-2 fuzzy model is used to replace the mathematical dynamic function for this force observer design.…”

Section: Methodsmentioning

confidence: 99%

Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic

Sun

Liao

et al. 2019

IEEE Trans. Cybern.

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This paper develops an innovative multilateral teleoperation system with two haptic devices on the master side and a newly designed reconfigurable multi-fingered robot on the slave side. A novel nonsingular fast terminal sliding-mode algorithm, together with varying dominance factors for cooperation, is proposed to offer this system's fast position and force tracking, as well as an integrated perception for the operator on the reconfigurable slave robot (manipulator). The Type-2 fuzzy model is used to describe the overall system dynamics, and accordingly a new fuzzy-model-based state observer is proposed to compensate for system uncertainties. A sliding-mode adaptive controller is designed to deal with the varying zero drift of the force sensors and force observers. The stability of the closed-loop system under time-varying delays is proved using Lyapunov-Krasovskii functions. Finally, experiments to grasp different objects are performed to verify the effectiveness of this multilateral teleoperation system.

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Section: Methodsmentioning

confidence: 99%

Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic

Sun

Liao

et al. 2019

IEEE Trans. Cybern.

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“…Because A is a 4 × 4 matrix, let us suppose its characteristic equation as p (λ d ) = (λ + λ d ) 4 , where λ d represents the desired eigenvalues. This polynomial yields the following solution set:…”

Section: Design Procedures Of Tsmcspomentioning

confidence: 99%

“…The two-degree-of-freedom (2-DOF) robotic manipulator was used to validate their proposed technique. In their subsequent work, Chan et al [4] proposed an improved form of EAOB for an n-DOF robotic manipulator. Their proposed observer used extra system states to correctly estimate the force and disturbance of the system in the presence of internal and external perturbation.…”

Section: Introductionmentioning

confidence: 99%

Implementation of a TSMCSPO Controller on a 3-DOF Hydraulic Manipulator for Position Tracking and Sensor-Less Force Estimation

et al. 2019

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In this study, a three-degree-of-freedom hydraulic system device configured as a masterand-slave manipulator system is considered. A methodology to estimate reaction force in aforementioned system is proposed without utilizing any force sensor/signal. A terminal sliding control with a sliding perturbation observer (TSMCSPO) is designed for coupled master-slave system. The fundamental benefit of the proposed scheme is that the sliding perturbation observer estimates the reaction force related to the end effector and second link without utilizing a force sensor. Robust and accurate position tracking is achieved with terminal sliding-mode control in addition to control of the slave manipulator. The position and force tracking for master-slave is estimated based upon bilateral control strategy. The difference in the reaction and operating force is included in the impedance model. The impedance model is implemented in the master device to provide the operator with a sense of the reaction force when it connects with the environment. The experimental results confirm the robust position and force tracking of the slave manipulator.

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“…In [33], a nonlinear disturbance observer (NDOB) is a well-known estimation method for estimating the external force signal of the bilateral teleoperation system. In another approach presented in [34], an extend active observer (EAOB) estimated both force and state information to improve control performance by removing the effect of measurement noise and parametric uncertainties. An extended state observer with an adaptive gain was also designed to obtain the force and state information without using force sensors in the bilateral teleoperation system in [27].…”

Section: Introductionmentioning

confidence: 99%

A Novel Force Sensorless Reflecting Control for Bilateral Haptic Teleoperation System

Ahn

2020

IEEE Access

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This paper presents a novel force sensorless reflecting controller for a haptic-enabled device driven by a bilateral pneumatic artificial muscle system, which proposed configuration for the first time the bilateral haptic teleoperation. For details, an adaptive force observer scheme considered to be an alternative to direct force measurement is proposed to estimate the interaction force with an unknown environment for the force reflecting control design. Meanwhile, the separately fast finite time nonsingular terminal sliding mode control schemes are developed based on the force estimation in both subsystems to achieve good tracking performance and fast response. Thus, the great transparency performance with both force feedback and position tracking can be achieved simultaneously by using our proposed method. The finite-time stability of the total controlled system is demonstrated by the Lyapunov approach. Moreover, the comparative experiments are carried out on the developed testbench to validate the effectiveness and advantages of our proposed control design in the different working conditions. INDEX TERMS Bilateral teleoperation system, pneumatic muscle actuator, force observer.

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An Improved Extended Active Observer for Adaptive Control of A n −DOF Robot Manipulator

Cited by 13 publications

References 21 publications

Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic

Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic

Implementation of a TSMCSPO Controller on a 3-DOF Hydraulic Manipulator for Position Tracking and Sensor-Less Force Estimation

A Novel Force Sensorless Reflecting Control for Bilateral Haptic Teleoperation System

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