Nonlinear control for teleoperation systems with time varying delay

Islam, Shafiqul; Liu, Peter; Saddik, A. El

doi:10.1007/s11071-013-1179-y

Cited by 33 publications

(13 citation statements)

References 40 publications

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“…In nearly all teleoperation systems there is some time delay while operating, posing a significant issue on the synchronization and operation of the exchanging commands, and hence degrading system stability and performance [ 27 ]. When the master and slave are close to each other, this delay is usually negligible and can be compensated for with the appropriate controller.…”

Section: Enabling Technologies For Telerobotic Systemsmentioning

confidence: 99%

Medical telerobotic systems: current status and future trends

et al. 2016

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Teleoperated medical robotic systems allow procedures such as surgeries, treatments, and diagnoses to be conducted across short or long distances while utilizing wired and/or wireless communication networks. This study presents a systematic review of the relevant literature between the years 2004 and 2015, focusing on medical teleoperated robotic systems which have witnessed tremendous growth over the examined period. A thorough insight of telerobotics systems discussing design concepts, enabling technologies (namely robotic manipulation, telecommunications, and vision systems), and potential applications in clinical practice is provided, while existing limitations and future trends are also highlighted. A representative paradigm of the short-distance case is the da Vinci Surgical System which is described in order to highlight relevant issues. The long-distance telerobotics concept is exemplified through a case study on diagnostic ultrasound scanning. Moreover, the present review provides a classification into short- and long-distance telerobotic systems, depending on the distance from which they are operated. Telerobotic systems are further categorized with respect to their application field. For the reviewed systems are also examined their engineering characteristics and the employed robotics technology. The current status of the field, its significance, the potential, as well as the challenges that lie ahead are thoroughly discussed.

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Section: Enabling Technologies For Telerobotic Systemsmentioning

confidence: 99%

Medical telerobotic systems: current status and future trends

et al. 2016

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“…If this delay is ignored in the control design, the system performance may deteriorate and as a result, destroy the system stability. Various methods have been proposed to improve the performance of these systems and keep their stability (Ganjefar et al, 2015; Hashemzadeh et al, 2012; Islam et al, 2014a, 2014b; Kikuuwe et al, 2015; Li et al, 2013a, 2013b; Liu and Chopra, 2013; Nuño et al, 2014; Sarras et al, 2014; Sun et al, 2016; Watanabe et al, 2017; Ya-kun et al, 2017; Yang et al, 2016, 2018).…”

Section: Introductionmentioning

confidence: 99%

Nonlinear disturbance observer-based fault-tolerant control for flexible teleoperation systems with actuator constraints and varying time delay

Rasouli

Moattari

Forouzantabar

2021

Transactions of the Institute of Measurement and Control

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In this paper, designing a control law for teleoperation systems with flexible-link slave robots in the presence of dynamic uncertainties, disturbances, actuator faults and actuator constraints with time-varying communication delays is addressed. This study proposes a simple anti-saturation nonlinear fault-tolerant controller incorporating a disturbance observer. The attractive features of the proposed controller include the ability to cope with disturbances, avoiding actuators exceeding their usual bounds, and compensating for the actuator faults. Besides which, the controller has a simple structure, does not need a fault detection mechanism, and coordinates the master’s motion speed with the slave’s actuator. A Lyapunov–Krasovskii functional is used to prove the stability and tracking performance of the teleoperation system. The feasibility and efficiency of the proposed controller are corroborated through simulation results.

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“…Nevertheless, in [8], [9], specific LMIs were needed to guarantee the stability of the system. In [10], a delay-dependent control strategy was designed for dual-robot system with passive and constant input forces under time delay. The adaptive fuzzy wavelet network control terms were able to handle parameter uncertainties associated with the dynamic model of the master-slave robots.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fuzzy Wavelet Network Sliding Mode Control for Dual-Robot System With Time Delay and Dynamic Uncertainty

Liu¹,

Han²,

Dong³

2019

IEEE Access

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For the position and velocity tracking of multi-input and multi-output nonlinear dual-robot system with time delay and dynamic uncertainty, an adaptive fuzzy wavelet network sliding mode control scheme is proposed. The integral sliding mode is designed as the inputs of the controller to reduce the number of the inputs of the system and the fuzzy rules. Then, for the problems of time delay and unknown nonlinear dynamics of the system, a fuzzy wavelet network controller is designed combing the approximation ability of the fuzzy system with the learning ability of the wavelet network. Moreover, switching control is designed to reduce the approximation error. Finally, the adaptive laws are designed based on the Lyapunov function to adjust the parameters of the controller in real time. The performance of the proposed control is compared to that of the conventional adaptive fuzzy control in the experimental setup with the two Phantom Omni robots. The experimental results show that better joint position and velocity tracking can be achieved under time delay and dynamic uncertainty with the proposed adaptive fuzzy wavelet network sliding mode control. INDEX TERMS Dual-robot system, time delay, dynamic uncertainty, sliding mode control, wavelet network, fuzzy control.

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Nonlinear control for teleoperation systems with time varying delay

Cited by 33 publications

References 40 publications

Medical telerobotic systems: current status and future trends

Medical telerobotic systems: current status and future trends

Nonlinear disturbance observer-based fault-tolerant control for flexible teleoperation systems with actuator constraints and varying time delay

Adaptive Fuzzy Wavelet Network Sliding Mode Control for Dual-Robot System With Time Delay and Dynamic Uncertainty

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