Model-reference model-mediated control for time-delayed teleoperation systems

Abstract

Abstract-Time delays in bilateral teleoperation systems can degrade the transparency and result in instability. For large delays, model predictive control or impedance reflective methods in which the operator interacts with the slave and environment model, can help overcome this issue. An important key to the success of these systems is to have the local virtual slave model synchronized with the slave. This is especially important when the slave gets into contact with hard environments, resulting in rapid contact force build up and slave chattering. In this paper, we propose a model-reference model-mediated teleoperation control architecture that provides enhanced synchronization between the slave and virtual slave models and keeps both the master and slave responsive. The proposed architecture is evaluated against through simulations and experiments carried out on a 1-DOF master-slave testbed.

Mixed H2/H∞ model reference control of linear parameter‐varying discrete‐time systems with real‐time application to aeropendulum system

“…Now, using ( 27) and ( 29) to obtain (24). In addition, the matrix A r (𝜙) given by ( 17) is affinely depends on the vector 𝜙.…”

“…From practical sides, different types of MRC system were applied to various systems such as spacecrafts, 14 PhotoVoltaic systems, 17 magnetic levitation systems, 19 aero-engines, 18 vertical two-tank systems, 20 unmanned aerial vehicles, 21 aerial remote sensing systems, 22 wind turbine generators, 23 and teleportation systems. 24 Most of the aforementioned LPV MRC systems are designed based on the state-feedback controller and parameter-independent Lyapunov function, where the LTI or LPV reference model is assumed to be given a priori. Motivated by the literatures, 16,[25][26][27] where an H ∞ LPV MRC system 16 is designed based on the dynamic output-feedback controller for LPV continuous-time systems using parameter-independent Lyapunov function to track the the desired outputs of the designed LPV reference model.…”

TCPSbed: A Modular Testbed for Tactile Internet-Based Cyber-Physical Systems

“…1) Testbed: Past works on testbeds for teleoperation systems are intended for specific applications and often designed to analyze the performance of a specific testbed component [17]- [22]. For instance, in [17], the authors describe a testbed specifically designed for hotline robot applications.…”

Impedance Field-Based Teleoperation With Data Holders for Reducing Data Traffic in Haptic Transmission and Its Analysis of Performance and Stability

“…Note that the equilibrium forces communicated in this proposed impedance-based structure are calculated from current position, velocity, and force responses in almost realtime, which is very different from conventional methods of constructing virtual objects [20]- [22]. These conventional methods require prior contact with the target object, and they require time to identify the physical properties of the target object.…”

“…These conventional methods require prior contact with the target object, and they require time to identify the physical properties of the target object. For instance, the result reported in [22] shows the identification delay was about 2.5 seconds. This can be a fatal drawback in the transmission of vivid haptic sensation and its use in dynamic, unknown environments.…”