Fault-Tolerant Control of Teleoperation Systems with Flexible-Link Slave Robot and Disturbance Compensation

Rasouli, Padideh; Forouzantabar, Ahmad; Moattari, Mazda; Azadi, Mohammad

doi:10.1007/s40998-020-00309-5

Cited by 7 publications

(6 citation statements)

References 69 publications

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“…Robot positioning errors and fault tolerance have attracted the attention of scholars in various fields (Gong et al, 2019;Guo et al, 2019;Rasouli et al, 2020). Blas and Blanke (2011) have studied automatic baling robots, which can locate plants using binocular vision and classify the appearance of plants.…”

Section: Visual Fault Tolerancementioning

confidence: 99%

Recognition and Localization Methods for Vision-Based Fruit Picking Robots: A Review

et al. 2020

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The utilization of machine vision and its associated algorithms improves the efficiency, functionality, intelligence, and remote interactivity of harvesting robots in complex agricultural environments. Machine vision and its associated emerging technology promise huge potential in advanced agricultural applications. However, machine vision and its precise positioning still have many technical difficulties, making it difficult for most harvesting robots to achieve true commercial applications. This article reports the application and research progress of harvesting robots and vision technology in fruit picking. The potential applications of vision and quantitative methods of localization, target recognition, 3D reconstruction, and fault tolerance of complex agricultural environment are focused, and fault-tolerant technology designed for utilization with machine vision and robotic systems are also explored. The two main methods used in fruit recognition and localization are reviewed, including digital image processing technology and deep learning-based algorithms. The future challenges brought about by recognition and localization success rates are identified: target recognition in the presence of illumination changes and occlusion environments; target tracking in dynamic interference-laden environments, 3D target reconstruction, and fault tolerance of the vision system for agricultural robots. In the end, several open research problems specific to recognition and localization applications for fruit harvesting robots are mentioned, and the latest development and future development trends of machine vision are described.

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Section: Visual Fault Tolerancementioning

confidence: 99%

Recognition and Localization Methods for Vision-Based Fruit Picking Robots: A Review

et al. 2020

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“…Despite the fact that the foregoing methods can ensure both transient and steady state performances, the impact of time delays were not considered. The effects of constant time delays in teleoperation systems has been dealt with using nonlinear disturbance observer based control [16], [17], a bilateral impedance control [18], event-triggered adaptive bilateral control [19], output feedback synchronization control [20], fault-tolerant control [21], adaptive neural network control [22], an integral SMC optimized with particle swamp optimization [23], an adaptive NTSMC [24]. However, due to the uncertainties associated with teleoperation system, the time delays cannot be constant.…”

Section: Introductionmentioning

confidence: 99%

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

2022

Eur. J. Math. Appl.

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This paper investigates the control design of a bilateral teleoperation system with input dead-zone, dynamic uncertainties, external disturbances and time-varying delay. Our objective is to achieve a robust bilateral teleoperation with guaranteed position asymptotic convergence. This is accomplished using an efficient backstepping approach combined with nonsingular fast terminal sliding mode control (NFTSMC) where the uncertain dynamics of the system are identified using radial basis function neural network (RBFNN). The upper-bounds of the external disturbances together with the RBFNN approximation errors are estimated and compensated online using adaptation algorithms. Computer simulations are provided to demonstrate the viability of the proposed control law.

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“…En el caso del esclavo, se refiere a fuerzas resultantes de su interacción con el ambiente no modelado; en el caso del maestro, se refiere a las fuerzas incluso del mismo operador, por un error o descuido (Chan et al (2014)). En (Rasouli et al (2020)) y (Mohammadi et al (2012)) se proponen estrategias de teleoperación mediante esquemas de control basados en observadores que estiman perturbaciones. Sin embargo, en (Rasouli et al (2020)) no se implementa en sistemas reales y en (Mohammadi et al (2012)) se implementa en mecanismos idénticos y los resultados de acoplamiento entre maestro y esclavo presentan un error transitorio considerable.…”

Section: Introductionunclassified

“…En (Rasouli et al (2020)) y (Mohammadi et al (2012)) se proponen estrategias de teleoperación mediante esquemas de control basados en observadores que estiman perturbaciones. Sin embargo, en (Rasouli et al (2020)) no se implementa en sistemas reales y en (Mohammadi et al (2012)) se implementa en mecanismos idénticos y los resultados de acoplamiento entre maestro y esclavo presentan un error transitorio considerable. Debido a estaś areas de oportunidad mencionadas anteriormente, la teleoperación bilateral es un tema de investigación vigente.…”

Section: Introductionunclassified

Teleoperación robusta de sistemas mecánicos basada en la estructura de control con compensación activa de perturbaciones

Almeida

Solis

Diaz

2021

Rev. iberoam. autom. inform. ind.

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<p>Se presenta una estrategia de control para garantizar la estabilidad de sistemas de teleoperación formados por mecanismos de n grados de libertad (nGDL), con incertidumbres paramétricas, perturbaciones externas, medición parcial de los vectores de estado y sin el uso de sensores de fuerza. Se asume que los mecanismos se encuentran lo suficientemente cercanos uno del otro, de tal forma que el problema de retardos ocasionados por el medio de comunicación es despreciable. La estrategia se basa en la aplicación de la estructura de control con compensación activa de perturbaciones, la cual incorpora observadores de estado discontinuos y filtros paso bajo que permiten la estimación de las variables de estado y otras señales no medidas, así como los términos de perturbación presentes en ambos sistemas, que permiten la implementación de los controladores. El desempeño de la estrategia de teleoperación se ilustra a través de experimentos con mecanismos de uno y dos grados de libertad.</p>

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Fault-Tolerant Control of Teleoperation Systems with Flexible-Link Slave Robot and Disturbance Compensation

Cited by 7 publications

References 69 publications

Recognition and Localization Methods for Vision-Based Fruit Picking Robots: A Review

Recognition and Localization Methods for Vision-Based Fruit Picking Robots: A Review

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

Teleoperación robusta de sistemas mecánicos basada en la estructura de control con compensación activa de perturbaciones

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