Control of a nonlinear teleoperation system by state convergence

Tafur, Julio C.; García, Cecilia; Aracil, Rafaél; Saltarén, Roque

doi:10.1109/icca.2011.6137947

Cited by 9 publications

(5 citation statements)

References 15 publications

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“…In spite of these limitations, elegancy of the SC method in terms of simplicity, modeling ease and achieving desired dynamic behavior of a linear teleoperation system, has attracted us to investigate its usage for control of nonlinear teleoperation system represented by TS fuzzy models which are obtained through the time varying weighted combination of linear subsystems. It is worthy to mention here that SC method (originally proposed for linear systems) has also been shown to control the nonlinear teleoperation system through the use of Lyapunov theory [50], adaptive control theory [51] and feedback linearization techniques [52]. Further, SC architecture has also been used in other studies to design tele-controllers [53], [54].…”

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confidence: 99%

Fuzzy Model Based Bilateral Control Design of Nonlinear Tele-Operation System Using Method of State Convergence

et al. 2016

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This paper presents the design of a state convergence (SC) based bilateral controller for a nonlinear teleoperation system which has been approximated by a Takagi-Sugeno (TS) fuzzy model. The selection of SC is made due to the advantages offered by this scheme both in the modeling and control design stages. The modeling stage considers master/slave systems which can be represented by n th order differential equations while the control design stage offers an easy way to determine the control gains required for assigning desired closed loop dynamics to teleoperation system. After the master/slave systems are represented by TS fuzzy models, a stabilizing fuzzy law is adopted which allows deploying the SC scheme with all its benefits to design the fuzzy bilateral controller. In this way, not only the simplicity of the design scheme is ensured but also the existing SC scheme is able to control a nonlinear teleoperation system based on its TS fuzzy model description. As an additional advantage, the SC based existing linear bilateral controller can be easily derived from the SC based proposed fuzzy bilateral controller. Various cases of master/slave systems originally reported in terms of their linear model representation and communication in the absence/presence of time delay are all discussed in the corresponding fuzzy framework. MATLAB simulations considering a one-degree-of-freedom (DoF) teleoperation system are performed to validate the proposed methodology for controlling a nonlinear teleoperation system.

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confidence: 99%

Fuzzy Model Based Bilateral Control Design of Nonlinear Tele-Operation System Using Method of State Convergence

et al. 2016

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“…Such a class of algorithms is collectively referred to as passivity paradigm for the bilateral control of teleoperation systems and by far, is the most popular choice for designing bilateral systems due to their strong robustness to time delays [7]. The other types of bilateral algorithms include sliding mode control [8], H∞ control [9], Lyapunov-Krasovskii functional based control [10], disturbance observer based control [11], adaptive control [12], intelligent control [13]- [15] and the state convergence based control [16], [17].…”

Section: Introductionmentioning

confidence: 99%

State Convergence-based Control of a Multi-Master-Single-Slave Non-linear Teleoperation System

Farooq¹,

El‐Hawary²,

Balas³

et al. 2018

ACTA POLYTECH HUNG

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This paper presents the design of a state convergence based control scheme, for a multi-master-single-slave nonlinear teleoperation system. The control objective is that the slave follows the weighted motion of the master systems, in free motion, and the master systems receive the scaled force feedback, while the slave system is in contact with the environment. To achieve the desired objectives, extended state convergence architecture is modified and appropriate control gains are chosen following a Lyapunov based stability analysis. MATLAB simulations considering a two-degree-of-freedom tri-master-singleslave nonlinear teleoperation system are provided to show the validity of the proposed scheme.

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“…For a local manipulator, we will use a PHANTOM Omni ® haptic device. For a remote manipulator we employed a planar serial arm with three degrees of freedom, actuated by DC motors, [19], [27]:…”

Section: Simulationmentioning

confidence: 99%

“…In this paper we improved the control scheme [19], analyzing the case of time-varying communication delay.…”

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Stability analysis of teleoperation system by state convergence with variable time delay

Tafur

García

Aracil

et al. 2013

2013 American Control Conference

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Control of a nonlinear teleoperation system by state convergence

Cited by 9 publications

References 15 publications

Fuzzy Model Based Bilateral Control Design of Nonlinear Tele-Operation System Using Method of State Convergence

Fuzzy Model Based Bilateral Control Design of Nonlinear Tele-Operation System Using Method of State Convergence

State Convergence-based Control of a Multi-Master-Single-Slave Non-linear Teleoperation System

Stability analysis of teleoperation system by state convergence with variable time delay

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