Generalized control method by state convergence for teleoperation systems with time delay

Azorín, José M.; Reinoso, Óscar; Aracil, Rafaél; Ferré, Manuel

doi:10.1016/j.automatica.2004.04.001

Cited by 50 publications

(31 citation statements)

References 12 publications

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“…On the other hand, SC method [47]- [49] simple and easy-to-follow way of designing the tele-controllers. However, in its original form, scheme can only be used for linear systems and when there is no time delay in the channel or the time delay lies in the small range [49].…”

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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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“…Haptic devices can be adjusted to optimize the perception under some conditions; for example, adjusting the controller parameters for a given time delay [13]. In this case, RTT awareness can be used in order to obtain the best controller for any communication time delay.…”

Section: Strategies To Improve the Haptic Perceptionmentioning

confidence: 99%

Efficient Transport Protocol for Networked Haptics Applications

Wirz

Ferré

Marı́n

et al. 2008

Haptics: Perception, Devices and Scenarios

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Abstract. The performance of haptic application is highly sensitive to communication delays and losses of data. It implies several constraints in developing networked haptic applications. This paper describes a new internet protocol called Efficient Transport Protocol (ETP), which aims at developing distributed interactive applications. TCP and UDP are transport protocols commonly used in any kind of networked communication, but they are not focused on real time application. This new protocol is focused on reducing roundtrip time (RTT) and interpacket gap (IPG). ETP is, therefore, optimized for interactive applications which are based on processes that are continuously exchanging data. ETP protocol is based on a state machine that decides the best strategies for optimizing RTT and IPG. Experiments have been carried out in order to compare this new protocol and UDP.

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“…This new proposal improves the position signal with respect to [15] where signal drift problems arise. The main reason for this improvement is that control strategies are independent of parameter uncertainties in robot models, the human operator and the remote environment.…”

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confidence: 99%

“…On the state convergence control technique [15], presents a state space formulation for a linear system of n order, through a control algorithm based on the feedback of position and speed of the manipulators signals, allow the remote manipulator to follow to the local handler through the state convergence even when there is a delay in the communication channel.…”

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confidence: 99%

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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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Generalized control method by state convergence for teleoperation systems with time delay

Cited by 50 publications

References 12 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

Efficient Transport Protocol for Networked Haptics Applications

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

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