Bilateral teleoperation system stability with non-passive and strictly passive operator or environment

Jazayeri, Ali; Tavakoli, Mahdi

doi:10.1016/j.conengprac.2015.03.004

Cited by 17 publications

(11 citation statements)

References 42 publications

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“…An alternative analysis in [130] investigates bilateral control system stability with a non-passive human operator or teleoperation environment using Mobius transformations.…”

Section: Passivity-based Controlmentioning

confidence: 99%

Toward Haptic Communications Over the 5G Tactile Internet

Αντωνάκογλου

Steinbach

et al. 2018

IEEE Commun. Surv. Tutorials

220

125

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“…An alternative analysis in [130] investigates bilateral control system stability with a non-passive human operator or teleoperation environment using Mobius transformations.…”

Section: Passivity-based Controlmentioning

confidence: 99%

Toward Haptic Communications Over the 5G Tactile Internet

Αντωνάκογλου

Steinbach

et al. 2018

IEEE Commun. Surv. Tutorials

220

125

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“…Suppose the master robot controller, the environment is passive, the remote operating system can be regarded as a master hand operation, environmental action consisting of a two-port network. Absolute stability criteria for two-port network [13], based on the input and output characteristics, can be used to analyze the stability of the operating system. The master-slave teleoperation systems are represented as two-port network model shown in Fig.3.The master robot side represents the port operatormaster robot interface, the slave robot port on behalf of the environment-the slave robot interface.…”

Section: Observer Designmentioning

confidence: 99%

Fuzzy impedance and sliding mode bilateral control in underwater ratio teleoperation based on observer

Liu

Zhang

Gao

2016

OCEANS 2016 - Shanghai

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This paper presents a bilateral control method of teleoperation for the underwater's complex and dangerous environment.The fuzzy adaptive impedance control is applied to the master robot, the integral sliding mode control is applied to the slave robot.The master and slave robot state observers are designed for the unknown interference.The ratio tracking in force and position from the master robot to the slave robot is applied in order to ensure the accuracy and flexibility of operation. The absolute stability criteria is employed for the analysis of the stability condition in bilateral control.The single freedom simulink is achieved in Matlab Simulink. It is shown that:the robustness of the master robot and the feeling from the environment is improved,the external interference is overcomed and the chattering in sliding mode control is eliminated,the flexibility of grasping is achieved by the ratio teleoperation, the whole system has a good feasibility and stability.978-1-4673-9724-7/16/$31.00 ©2016 IEEE

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“…While [17] was focused on stability analysis and did not directly address controller design, in this paper we model the ET as an input non-passive system and propose compensation for its shortage of passivity, which is induced by the slippage. Also, in [17] the model of the ET was LTI (linear time invariant) while in this paper the slippage model is time-varying. The rest of this paper is organized as follows: In Sec.…”

Section: Nomenclature Rmentioning

confidence: 99%

“…Interestingly, as we will see later, slippage fluctuations may cause the ET to exhibit non‐passive behaviour, complicating the teleoperation control of the WMR. In [17], Jazayeri and Tavakoli considered the termination's non‐passivity and modified the Llewellyn's absolute stability criterion through Mobius transformations. While Jazayeri and Tavakoli [17] was focused on stability analysis and did not directly address controller design, in this paper, we model the ET as an input non‐passive (INP) system and propose compensation for its shortage of passivity (SOP), which is induced by the slippage.…”

Section: Introductionmentioning

confidence: 99%

“…In [17], Jazayeri and Tavakoli considered the termination's non‐passivity and modified the Llewellyn's absolute stability criterion through Mobius transformations. While Jazayeri and Tavakoli [17] was focused on stability analysis and did not directly address controller design, in this paper, we model the ET as an input non‐passive (INP) system and propose compensation for its shortage of passivity (SOP), which is induced by the slippage. Also, in [17] the model of the ET was linear time invariant while in this paper the slippage model is time varying.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Kinematic bilateral teleoperation of wheeled mobile robots subject to longitudinal slippage

Ding

Gao

et al. 2016

IET Control Theory & Applications

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With the widespread use of wheeled mobile robots (WMR) in various applications, new challenges have arisen in terms of designing its control system. One of such challenges is caused by wheel slippage. This paper proposes a new method for haptic teleoperation control of a WMR with longitudinal slippage (not including sliding). In this teleoperation system, the mobile robot's linear velocity follows the master haptic interface's position. The proposed teleoperation controller also includes an acceleration-level control law for the mobile robot such that the velocity loss caused by slippage is compensated for. Information about the magnitude and timing of slippage is displayed to the human operator through haptic (force) feedback. Despite the functional benefits of displaying slippage information as haptic feedback to the user, there are system stability related concerns that have been addressed using the proposed controller. Experiments of the proposed controller demonstrate that it results in stable bilateral teleoperation with a satisfactory tracking performance.

show abstract

Bilateral teleoperation system stability with non-passive and strictly passive operator or environment

Cited by 17 publications

References 42 publications

Toward Haptic Communications Over the 5G Tactile Internet

Toward Haptic Communications Over the 5G Tactile Internet

Fuzzy impedance and sliding mode bilateral control in underwater ratio teleoperation based on observer

Kinematic bilateral teleoperation of wheeled mobile robots subject to longitudinal slippage

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