Effects of quantization and saturation on performance in bilateral teleoperator

Abstract

Summary Quantization caused by communication channel and saturation caused by manipulator actuator can influence the synchronized motion of bilateral teleoperation system. The primary contribution of this paper is the consideration of quantization phenomenon when designing control law for teleoperator. Two types of control schemes are considered: position error feedback and slave torque feedback. We demonstrate that asymptotic stability is possible if a suitable relationship holds among the parameters of quantizer, controller, and saturation level. The secondary contribution of the paper is the estimation for the domain of attraction of teleoperator. Linear matrix inequality–based optimization conditions are established to guarantee the stability. The calculated region provides a basis when selecting the initial states. Finally, to further demonstrate validity of the proposed method, simulation and experiment are performed on a pair of robots, which have limited actuation capacity and communication channel.

Soft variable structure control in time-delay systems with saturating input

“…However, all those works assume that the control action can be exerted on the plant immediately, i. e., without any latency or time lag in the control channel. Motivated by their importance in many application areas, e. g., networked structures [8,12,15,27,30], biological [39], mechanical [42], and energy [43] systems, inventory and process control [10,11,31,35], remote regulation and sensing [6,29,44], in this paper, the possibility of using soft VSC in the systems with non-negligible delay is investigated. In order to overcome the potentially destabilizing effect of the delay in the feedback loop, a dead-time compensator is incorporated.…”

Control design for bilateral teleoperation system with actuator dead-zone and time-varying delays

“…In [41], a position tracking controller for teleoperation system with input deadzone was proposed. The control schemes tackling actuator saturation in teleoperation systems are presented in [42], [43], [44], [45], [46], [47], [48], [49].…”

Hierarchical predefined‐time control of teleoperation systems with state and communication constraints

“…In References 25 and 26, the quantized consensus problem for the multiagent systems has been addressed. The quantized‐data communication for teleoperation systems has been considered and widely invoked in References 27 and 28. However, designing an effective control algorithm to achieve teleoperation under the influence of both communication constraints (including communication delays and quantized‐data communication) and state constraints is a difficult and challenging problem in the theoretical level and remains unsolved.…”

“…More specifically, the time delay between the slave robot performing remote tasks and the master robot is generally too great to ignore due to the long physical distance between these robots, negatively affecting the stability of the whole system 3,24 . Besides, due to the hardware constrains on the communication bandwidth and load, the quantized‐data communication strategy based on the transformation from continuous signals to digital signals, is widely believed as a cost‐effective way for establishing and maintaining long‐distance communication 25–28 . In References 25 and 26, the quantized consensus problem for the multiagent systems has been addressed.…”

“…3,24 Besides, due to the hardware constrains on the communication bandwidth and load, the quantized-data communication strategy based on the transformation from continuous signals to digital signals, is widely believed as a cost-effective way for establishing and maintaining long-distance communication. [25][26][27][28] In References 25 and 26, the quantized consensus problem for the multiagent systems has been addressed. The quantized-data communication for teleoperation systems has been considered and widely invoked in References 27 and 28.…”