Compliance control for stabilization of bilateral teleoperation system in the presence of time delay

Sakai, Hayata; Tomizuka, Daisuke; Ohnishi, Kouhei

doi:10.1109/icmech.2017.7921081

Cited by 7 publications

(5 citation statements)

References 15 publications

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“…We can consider (19) for robust stability of closed loop system. But it is possible only when its right hand, defined as E(𝜔) in (20), is greater than zero for all frequencies.…”

Section: Robust Stability Of Closed Loop Systemmentioning

confidence: 99%

“…But if the delay time is uncertain or changed, time delay property still remains and it should be taken into account in the design of the Q‐filter. This type of uncertain time delay often encounters in the control system designs such as bilateral teleoperator, process control, network control, vision control and it makes the control system design much more difficult 16–21 …”

Section: Introductionsmentioning

confidence: 99%

“…This type of uncertain time delay often encounters in the control system designs such as bilateral teleoperator, process control, network control, vision control and it makes the control system design much more difficult. [16][17][18][19][20][21] There are some applications that have applied DOB to the time delay system. [22][23][24] In Reference 22 and later relevant studies, communication disturbance observer (CDOB) were introduced to compensate the time delay on the network and this method has been used in bilateral teleoperation system.…”

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confidence: 99%

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A design of disturbance observer in frequency domain for robust control of time delay system

Kim¹

2022

Adaptive Control & Signal

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Summary The disturbance observer (DOB) based robust control is widely used to suppress the effect of model uncertainty and disturbances. Improvement of disturbance suppression performance in DOB based control (DOBC) is achieved by expansion of the Q‐filter's bandwidth or equivalently increment of its cutoff frequency. However, if the system has time delay property, the bandwidth cannot be arbitrarily extended because of the stability demand of the closed loop system. Although the Q‐filter's bandwidth is restricted, there is still room for improving disturbance suppression performance by elaborately designing the Q‐filter's structure and coefficients. For the optimized design of Q‐filter, at the beginning of this paper, based on the analysis of the model uncertainty due to time delay and its upper bound, a new robust stability condition of closed loop system is derived as a type of inequality on complementary sensitivity function of whole closed loop system with DOB. Then a mixed sensitivity optimization problem for optimizing disturbance suppression performance under this stability condition is formulated with structural constraint. Finally, in order to solve this optimization problem, pseudo loop factorization and shaping method is used to transform it into standard H∞$$ {H}_{\infty } $$ control problem without the structural constraint so that it can be solved systematically. The results of illustrative examples and simulations validate the effectiveness of the proposed method.

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“…We can consider (19) for robust stability of closed loop system. But it is possible only when its right hand, defined as E(𝜔) in (20), is greater than zero for all frequencies.…”

Section: Robust Stability Of Closed Loop Systemmentioning

confidence: 99%

Section: Introductionsmentioning

confidence: 99%

mentioning

confidence: 99%

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A design of disturbance observer in frequency domain for robust control of time delay system

Kim¹

2022

Adaptive Control & Signal

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“…Chopra et al proposed a framework of passivity with scattering formalism to guarantee the passivity of the system with the limitations of time delays and data loss [21]. In [22], a F-P (Transparency Optimized Control Architecture) architecture with compliance control was proposed to provide stability in different modes with small position error in the hard environment. A bilateral teleoperated architecture with a small gain method was developed to guarantee the safety of human-robot interaction in the presence of without passivity [23].…”

Section: Introductionmentioning

confidence: 99%

A Wave Variable Approach With Multiple Channel Architecture for Teleoperated System

et al. 2019

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Performance of teleoperation can be greatly influenced by time delay in the process of tele-manipulation with respect to accuracy and transparency. Wave variable is an effective algorithm to achieve a good stable capability. However, some traditional wave variable methods may decrease the performance of transparency and suffer the impacts of wave reflection. To deal with the problem of stability and transparency in teleoperation, in this paper, a novel wave variable method with four channel is presented to achieve stable tracking in position and force. In addition, the proposed method can achieve the distortion compensation and reduce the impacts of wave reflection. The simulation experimental results verified the tracking performance of the proposed method.INDEX TERMS Teleoperation, wave-variable-based method with four channel, stability and transparency, position tracking, force reflection.

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“…Nas últimas décadas o projeto de sistemas de teleoperação bilateral sem tempo de atraso teve um grande avanço. No entanto, a presença de atrasos de comunicação entre o mestre e o escravo torna o projeto desses sistemas desafiador, uma vez que deteriora severamente o desempenho e possivelmente os torna instáveis (SAKAI et al, 2017).…”

Section: Controle De Sistemas De Teleoperaçãounclassified

Métodos de filtragem, estimação e controle adaptativo indireto aplicados a sistemas de teleoperação bilateral

Rossini¹

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In this thesis, filtering, estimation and indirect adaptive control algorithms applied to bilateral teleoperation systems are proposed. The objective of this work was to identify and to implement indirect adaptive control in a slave master system. In a growing scenario of remote access to environments and equipment, as in industry 4.0, there is a need to quantify and characterize dynamic system parameters in order to improve the performance of control systems.In this manuscript three contributions regarding the teleoperated systems estimation and control are proposed. First, the Extended Kalman Filter (EKF) algorithm was combined with the Recursive Least Squares State-Variable Filter (RLSSVF), giving rise to the Hybrid Algorithm (AH1). The AH1 was able to estimate the parameters of a continuous time variant system in the state space form. In the second contribution, the Kalman Filter (KF) algorithm was combined with the Recursive Least Squares Estimator with Forgetting Factor Ú (RLSEFFÚ), originating the Hybrid Algorithm (AH2). AH2 was able to estimate specific parameters of a continuous time variant state space system. In the last contribution, the Method for Parameter and Delay Time Estimation (MEPTA) was combined with the Pole Allocation Method, giving rise to the Hybrid Algorithm for Identification and Adaptive Control (AHICA). Thus, AHICA was able to perform indirect adaptive control of a process with discrete time variant parameters. Such control system meets transient and stationary constraints, as well as the setpoint tracking.The proposed methods presented a good performance, especially regarding the algorithms coupling, what can be verified through the simulated results. Such methods can be applied to similar problems from new mathematical arrangements and computational constructions.

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Compliance control for stabilization of bilateral teleoperation system in the presence of time delay

Cited by 7 publications

References 15 publications

A design of disturbance observer in frequency domain for robust control of time delay system

A design of disturbance observer in frequency domain for robust control of time delay system

A Wave Variable Approach With Multiple Channel Architecture for Teleoperated System

Métodos de filtragem, estimação e controle adaptativo indireto aplicados a sistemas de teleoperação bilateral

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