Model Predictive Control for Transparent Teleoperation Under Communication Time Delay

Sirouspour, Shahin; Shahdi, Ali

doi:10.1109/tro.2006.882939

Cited by 81 publications

(55 citation statements)

References 42 publications

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“…And, the operator remotely drives the virtual predicted vehicle and these teleoperation commands which the operator performs are sent to the real vehicle as control commands. When these commands arrive to the real vehicle after time-delay ∆ the real vehicle reaches to the position before the predicted position mentioned above and it is obliged to follow the path of the virtual vehicle and thus eliminating any prediction errors before they happen [16], [17]. Hence, the operator has the sensation that the real vehicle is being controlled and teleoperated with no latency which achieves telepresence.…”

Section: Resultsmentioning

confidence: 99%

Time-Delay Compensation in Environment Construction Using Laser Range Finder

Nasry¹,

Ye²,

Gong³

et al. 2013

IJCTE

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Section: Resultsmentioning

confidence: 99%

Time-Delay Compensation in Environment Construction Using Laser Range Finder

Nasry¹,

Ye²,

Gong³

et al. 2013

IJCTE

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“…Proof: This is clear from Lemmas 1-4. Remark 3: The above theorem is also given if the following LTI operator model [10], [16], [22] is used.…”

Section: Stability and Performance Analysismentioning

confidence: 99%

“…In this paper, we discussed for only 1 degree of freedom linear robot but the robots used in experiment are multi degree of freedom nonlinear system. Thus, we use the linearization by adaptive impedance control [25] as [14], [16] and the controllers are designed for x, y independently. The detail of the controller is shown in appendix.…”

Section: Stability and Performance Analysismentioning

confidence: 99%

“…In the experiment, we use the linearization by adaptive impendace control [14], [16], [25]. This appendix show the detail of this controller.…”

Section: Appendixmentioning

confidence: 99%

“…[13]- [16] attempt the non-delayed position tracking or non-delayed force reflection or realization of delay-free dynamics. In these methods, the uncertainties of operator and environmental model cause prediction error and position tracking error and force tracking error.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Stability and tracking properties in predictive control with adaptation for bilateral teleoperation

Yoshida

Namerikawa

2009

2009 American Control Conference

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Abstract-This paper deals with an environment estimation based predictive control for teleoperation with communication time delay. In this predictive control framework, the delayed position tracking and non-delayed force reflection are attempted. The goal of this paper is to propose a new control method which guarantees the stability, the convergence of position tracking error to zero and the small force tracking error theoretically. Proposed control structure is the 3ch architecture with environment estimation based force prediction. In this proposed method, the master controller implements force control with environmental force prediction while the slave controller implements position and force control. The theoretical analysis shows the stability, the convergence of position error to zero and the small force tracking error. Experimental results show the effectiveness of the proposed method.

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A novel adaptive robust control architecture for bilateral teleoperation systems under time‐varying delays

Chen

Pan

2014

Intl J Robust & Nonlinear

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Bilateral teleoperation technology has caused wide attentions due to its applications in various remote operation systems. The communication delay becomes one of the main challenging issues in the teleoperation control design. Meanwhile, various nonlinearities, parameter variations, and modeling uncertainties existing in manipulator and environment dynamics need to be considered carefully in order to achieve good control performance. In this paper, a globally stable nonlinear adaptive robust control algorithm is developed for bilateral teleoperation systems to deal with these control issues. Namely, the unknown dynamical parameters of the environmental force are estimated online by the improved least square adaptation law. A novel communication structure is proposed where only the master position signal is transmitted to the slave side for the tracking design, and the online estimators of the environmental parameters are transmitted from the slave to the master to replace the traditional environmental force measurement. Because the estimated environmental parameters are not power signals, the passivity problem of the communication channel and the trade-off limitation between the transparency performance and robust stability in traditional teleoperation control are essentially avoided. The nonlinear adaptive robust control is subsequently developed to deal with nonlinearities, unknown parameters, and modeling uncertainties of the master, slave, and environmental dynamics, so that the guaranteed transient and steady-state transparency performance can be achieved. The experiments on two voice-coil motor-driven manipulators are carried out, and the comparative results verify that the proposed control algorithm achieves the excellent control performance and the guaranteed robust stability simultaneously under time delays. INTRODUCTIONBilateral teleoperation systems are designed for human operator to manipulate the remote and/or hazardous operation tasks, where the master manipulator is operated by human and provides motion comments to the slave manipulator, which is performing the actual task. The wide applications of bilateral teleoperation systems include outer space and underwater exploration, nuclear plant handing, surgical operations, vehicle steering, and so on [1].The control objectives of bilateral teleoperation systems consist of two parts: stability and transparency. The closed-loop system needs to be stable under various human operations and environment behaviors. Transparency means the quality of the connection between the remote environment and the human operator, as felt by the operator. Many control methods have been developed to realize these control goals. The passivity-based control [2-4] is usually used to enforce the passivity of the whole teleoperation system, ensuring the closed-loop stability. A four channel transmission architecture is introduced in [5, 6], where the velocity and force signals are transmitted between the master and slave side in order to achieve good transparency performance. T...

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Model Predictive Control for Transparent Teleoperation Under Communication Time Delay

Cited by 81 publications

References 42 publications

Time-Delay Compensation in Environment Construction Using Laser Range Finder

Time-Delay Compensation in Environment Construction Using Laser Range Finder

Stability and tracking properties in predictive control with adaptation for bilateral teleoperation

A novel adaptive robust control architecture for bilateral teleoperation systems under time‐varying delays

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