Delay-Robust Nonlinear Control of Bounded-Input Telerobotic Systems With Synchronization Enhancement

Zakerimanesh, Amir; Sharifi, Mojtaba; Hashemzadeh, Farzad; Tavakoli, Mahdi

doi:10.1109/lra.2021.3061976

Cited by 6 publications

(2 citation statements)

References 26 publications

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“…In this paradigm, the robot can quickly react to the stimulus since the sensory input from the dynamic environment directly triggers the coupled action from a wide variety of measures. Given this, many studies have focused on time-delay compensation [22,23] or reflex-based self-protective patterns and successfully applied to some humanoid robots, i.e., grasp reflex [24] and mainly slip [25]. For them, facing accidental collision risks, generating and maintaining stable controllers are their preventive measures.…”

Section: Related Workmentioning

confidence: 99%

Towards a balancing safety against performance approach in human–robot co-manipulation for door-closing emergencies

Liu

Gao

et al. 2021

Complex Intell. Syst.

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Telemanipulation in power stations commonly require robots first to open doors and then gain access to a new workspace. However, the opened doors can easily close by disturbances, interrupt the operations, and potentially lead to collision damages. Although existing telemanipulation is a highly efficient master–slave work pattern due to human-in-the-loop control, it is not trivial for a user to specify the optimal measures to guarantee safety. This paper investigates the safety-critical motion planning and control problem to balance robotic safety against manipulation performance during work emergencies. Based on a dynamic workspace released by door-closing, the interactions between the workspace and robot are analyzed using a partially observable Markov decision process, thereby making the balance mechanism executed as belief tree planning. To act the planning, apart from telemanipulation actions, we clarify other three safety-guaranteed actions: on guard, defense and escape for self-protection by estimating collision risk levels to trigger them. Besides, our experiments show that the proposed method is capable of determining multiple solutions for balancing robotic safety and work efficiency during telemanipulation tasks.

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Section: Related Workmentioning

confidence: 99%

Towards a balancing safety against performance approach in human–robot co-manipulation for door-closing emergencies

Liu

Gao

et al. 2021

Complex Intell. Syst.

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“…In some research work, the authors consider the influence of torque saturation on the stability and performance of teleoperation systems with time-varying delay and design a P+d control strategy for controller saturation [31,32]. By combining the dynamic master-slave interconnection with the dynamic damping injection of each robot, in [33] the authors propose a new control strategy for the time-delay bilateral teleoperation system with stable input to state.…”

Section: Introductionmentioning

confidence: 99%

An Adaptive Proportional Plus Damping Control for Teleoperation Systems with Asymmetric Time-Varying Communication Delays

Bao

Zhang

et al. 2022

Mathematics

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Communication delay is an important factor affecting the stability and performance of telerobotic systems. In this paper, a new adaptive proportional damping controller is proposed to improve the stability and performance of the system in the presence of the cases such as asymmetric communication delay, unknown gravity torque, friction torque, and other disturbance torques. The proposed proportional damping control method combines the RBF neural network and adaptive control strategy to compensate for the unknown torque. The stability and robustness of the system are enhanced by adding error-damping items, operator force, and environmental force items. The Lyapunov–Krasovskii functional is employed to analyze and prove the exponential stability and signal boundedness of the closed-loop system. The simulation results verify the correctness of the proposed method, and the comparison with the results of other control methods shows the effectiveness of the designed control strategy.

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Sensor networks with distributed event-triggered scheme for T–S fuzzy system with dissipativity analysis

Aslam

Qaisar

2023

European Journal of Control

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Delay-Robust Nonlinear Control of Bounded-Input Telerobotic Systems With Synchronization Enhancement

Cited by 6 publications

References 26 publications

Towards a balancing safety against performance approach in human–robot co-manipulation for door-closing emergencies

Towards a balancing safety against performance approach in human–robot co-manipulation for door-closing emergencies

An Adaptive Proportional Plus Damping Control for Teleoperation Systems with Asymmetric Time-Varying Communication Delays

Sensor networks with distributed event-triggered scheme for T–S fuzzy system with dissipativity analysis

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