Nonlinear composite bilateral control framework for n-DOF teleoperation systems with disturbances

Abstract

This paper proposes a new nonlinear composite bilateral control framework for n-degree-offreedom (n-DOF) teleoperation systems with external disturbances. Different with the existing methods which usually regard the dynamics of the master and slave robots as linear impedance models, the proposed control framework fully considers the nonlinear dynamics of the n-DOF teleoperation systems. Central to the proposed framework is the utilization of nonlinear disturbance observers for estimating the disturbances in master and slave robot systems. The nonlinear composite bilateral controller is constructed by incorporating the disturbance estimations into the nonlinear feedback linearization controller. The proposed control method guarantees satisfactory position tracking performance and desired remote force haptic simultaneously for the n-DOF teleoperation systems with external disturbances. The effectiveness of the proposed control framework is validated by its applications on 2-DOF teleoperation systems.

Model Mediation to Overcome Light Limitations—Toward a Secure Tactile Internet System

“…This virtual model interacts in real time with the end user based on a prediction model that can predict the reaction of the slave side including the remote environment and the slave robot. The virtual model at the master side is periodically updated based on the received feedback data from the slave side; however, this updating should be efficient to prevent the force disturbance [62]. Thus, tactile Internet can use such model mediated systems to overcome the light limitations and realize the system for any distances between the master and slave sides.…”

Disturbance observer-based optimal longitudinal trajectory control of near space vehicle

“…An introduction to the existing disturbance observer-based control methods is given in [5]. A new nonlinear composite bilateral control framework using the NDO method has been proposed for the n-degree-of-freedom (n-DOF) teleoperation systems in [6]. Many studies have been performed to develop the flight control of an NSV, but only a few have investigated the optimal trajectory control of an NSV, especially when there exists an external disturbance in the system.…”