Improved Delay-Dependent Stability Criteria for Telerobotic Systems With Time-Varying Delays

Al-Wais, Saba; Mohajerpoor, Reza; Shanmugam, Lakshmanan; Asayesh, Hamid; Nahavandi, Saeid

doi:10.1109/tsmc.2017.2706218

Cited by 24 publications

(17 citation statements)

References 51 publications

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“…Our results can be easily extended to the case with non-zero lower bounded delays. Some studies for interval communication delays can be found in [43], [44].…”

Section: Problem Formulation and Preliminariesmentioning

confidence: 99%

Bilateral Teleoperation of Multiple Robots Under Scheduling Communication

Liu

et al. 2020

IEEE Trans. Contr. Syst. Technol.

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In this paper, bilateral teleoperation of multiple slaves coupled to a single master under scheduling communication is investigated. The sampled-data transmission between the master and the multiple slaves is fulfilled over a delayed communication network, and at each sampling instant, only one slave is allowed to transmit its current information to the master side according to some scheduling protocols. To achieve the masterslave synchronization, Round-Robin scheduling protocol and Try-Once-Discard scheduling protocol are employed, respectively. By designing a scheduling-communication-based controller, some sufficient stability criteria related to the controller gain matrices, sampling intervals, and communication delays are obtained for the closed-loop teleoperation system under Round-Robin and Try-Once-Discard scheduling protocols, respectively. Finally, simulation studies are given to validate the effectiveness of the proposed results.

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“…Our results can be easily extended to the case with non-zero lower bounded delays. Some studies for interval communication delays can be found in [43], [44].…”

Section: Problem Formulation and Preliminariesmentioning

confidence: 99%

Bilateral Teleoperation of Multiple Robots Under Scheduling Communication

Liu

et al. 2020

IEEE Trans. Contr. Syst. Technol.

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“…In the works of Al‐Wais et al and Baranitha et al, the roles of quantization and saturation are not considered. The control scheme is

\begin{matrix} alignleft \\ align-1 τ_{m} & align-2 = - k_{p m} (q_{m} false(t false) - q_{s} (() t - d_{s} (t))) - α_{m} {\dot{q}}_{m} (t) \\ align-1 τ_{s} & align-2 = k_{p s} (q_{m} (() t - d_{m} (t)) - q_{s} false(t false)) - α_{s} {\dot{q}}_{s} (t), \end{matrix}

which is designed with the assumptions that the data can be converted with arbitrary precision and the manipulator actuators are able to provide any requested joint torque.…”

Section: Simulationmentioning

confidence: 99%

“…Positions of master and slave with control gains in the works of Al‐Wais et al and Baranitha et al [Colour figure can be viewed at wileyonlinelibrary.com]…”

Section: Simulationmentioning

confidence: 99%

Effects of quantization and saturation on performance in bilateral teleoperator

Yang

Yan

Chen

et al. 2019

Intl J Robust & Nonlinear

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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.

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“…Remark 2. Recall the existing result in the work of Al-Wais et al, 36 which is used to investigate the synchronization problem of telerobotic systems with known lower and upper bounds. A simple control architecture was provided to achieve asymptotic stability.…”

Section: Control Law Designmentioning

confidence: 99%

“…A simple control architecture was provided to achieve asymptotic stability. 36 Motivated by the aforementioned work, 36 this paper considers the jittering delay problem. In addition, convergence performance, such as settling time, is improved to achieve finite-time control.…”

Section: Control Law Designmentioning

confidence: 99%

Adaptive finite‐time control for bilateral teleoperation systems with jittering time delays

Wang

Chen

Zhang

et al. 2018

Intl J Robust & Nonlinear

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In this paper, we present a robust adaptive control algorithm for a class of bilateral teleoperation systems with system uncertainties and jittering time delays.The remarkable feature of jittering delays is that time delays change sharply and randomly. Conventional controllers would fail because jittering time delays introduce serious chattering. To address the jittering issue, a novel jittering-free scheme is developed by relaxing and extending the frequently used constant upper bound. Moreover, an adaptive law was incorporated with the Chebyshev neural network to deal with the system uncertainties. To obtain finite-time synchronization performance, a fast terminal sliding mode controller is proposed through the technique of "adding a power integrator." With the proposed control scheme, the robust finite-time convergence performance is guaranteed.The settling time can be further calculated with the controller parameters. The simulation and experiment results have demonstrated the effectiveness of the proposed method.

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Improved Delay-Dependent Stability Criteria for Telerobotic Systems With Time-Varying Delays

Cited by 24 publications

References 51 publications

Bilateral Teleoperation of Multiple Robots Under Scheduling Communication

Bilateral Teleoperation of Multiple Robots Under Scheduling Communication

Effects of quantization and saturation on performance in bilateral teleoperator

Adaptive finite‐time control for bilateral teleoperation systems with jittering time delays

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