Observer-based adaptive force–position control for nonlinear bilateral teleoperation with time delay

Dehghan, Seyed Ali Mohamad; Koofigar, Hamid Reza; Sadeghian, Hamid; Ekramian, Mohsen

doi:10.1016/j.conengprac.2020.104679

Cited by 24 publications

(19 citation statements)

References 30 publications

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“…The dynamics equations of n -link master and slave manipulators in joint space (Dehghan et al, 2021; Hashemzadeh and Tavakoli, 2015; Hua and Liu, 2010) are given as…”

Section: Problem Formulation and Preliminariesmentioning

confidence: 99%

“…However, it is difficult to guarantee the passivity of external forces in real application. In Dehghan et al (2021), a nonlinear force observer was designed based on the assumption that the exerted force applied to the robot is bounded and the rate of change of the external force is negligible. It means that only constant or slow time-varying forces can be estimated.…”

Section: Fixed-time Force Observer Designmentioning

confidence: 99%

“…To ensure the stability of the telerobotics system and enhance the transparency, plenty of control strategies are usually designed based on both force and position information (Dehghan et al, 2021; Heck et al, 2018; Jafari et al, 2012; Tugal et al, 2017). Currently, the hybrid position/force control and the impedance control are two primary methods for force and position tracking control of robotic manipulator.…”

Section: Introductionmentioning

confidence: 99%

“…Yet, the cost of force sensors is high and the installation of force sensors is easy to cause unnecessary burden on system integration. Therefore, the problem of force estimation has attracted wide attention of researchers (Cvitanic et al, 2020; Dehghan et al, 2021; Khateri et al, 2020; Xu et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

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New delay-dependent position/force hybrid controller design for uncertain telerobotics without force sensors

Yang

et al. 2023

Transactions of the Institute of Measurement and Control

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In this article, a new position/force hybrid control strategy is proposed for a class of uncertain bilateral telerobotics systems under time-varying communication delays. This control approach features the capability of removing the use of force sensors and relaxing the assumption on external forces. Specially, the proposed terminal sliding mode (TSM)-based force observer can estimate human force and environment force in a fixed time by applying a variable exponent coefficient, which effectively avoids the temporal problems of other existing force observers. By embedding the estimated force information, corresponding position/force hybrid controller is designed to ensure transparency and stability of system, which can be evaluated by the position synchronization in the slave and the force repeated in the master. Furthermore, by selecting Lyapunov–Krasovskii functional, it proves the stability of the bilateral telerobotics system under particular linear matrix inequality (LMI) conditions. The proposed stability criterion can serve to calculate the maximum allowable transmission delay with the given controller parameters; thus, the conservativeness is reduced. Finally, simulation comparison results and experimental results demonstrate the superior performance of the proposed position/force hybrid controller under different external forces.

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“…The dynamics equations of n -link master and slave manipulators in joint space (Dehghan et al, 2021; Hashemzadeh and Tavakoli, 2015; Hua and Liu, 2010) are given as…”

Section: Problem Formulation and Preliminariesmentioning

confidence: 99%

Section: Fixed-time Force Observer Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

New delay-dependent position/force hybrid controller design for uncertain telerobotics without force sensors

Yang

et al. 2023

Transactions of the Institute of Measurement and Control

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“…Methods to solve latency include improving control [38,39] and network design and architecture [40,41], and incorporating supervisory and predictive control [42]- [44]. In particular, extensive research examined passivity-based methods with the usage of wave variables, as introduced by Niemeyer and Sloting [45], extended from Anderson and Spong's work on bilateral control methods [46].…”

Section: Introductionmentioning

confidence: 99%

Latency mitigation using applied HMMs for mixed reality-enhanced intuitive teleoperation in intelligent robotic welding

Lloyd

Chen

et al. 2023

Int J Adv Manuf Technol

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Latency mitigation is crucial to increasing operational success, ease of use, and product quality in telemanipulation tasks when remotely guiding complex robotic systems. Hardware limitations have created a gap in performance optimization due to large teleoperation delays, which machine learning techniques could fill with lower time, improved performance, and reduced operating costs. Hidden Markov models (HMMs), in particular, have been explored to alleviate the issue due to their relative ease of use. A mixed reality-enhanced intuitive teleoperation framework for immersive and intuitive telerobotic welding is presented. The proposed system implements an HMM generative algorithm to learn and predict human-welder motion to enable a low-cost solution, combining smoothing and forecasting techniques to minimize robotic teleoperation time delay. The predicted welding motion system is simple to implement, can be used as a general solution to solve time delays, and is accurate. More specifically, it provides a 66% RMSE reduction compared to the application without HMM, which may be further optimized by up to 38%. Experiments show the HMM generative algorithm lets humans conduct tele-robot-assisted welding with better performance.

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Global terminal sliding‐mode control for the synchronization problem of uncertain bilateral teleoperation system with time‐varying delays

Ounissi,

Boukattaya,

Mezghani Ben Romdhane

2024

Asian Journal of Control

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In this paper, an adaptive global terminal sliding‐mode control is developed for a nonlinear bilateral teleoperation system with time‐varying delays, external disturbances, and uncertainties. By selecting a time‐varying sliding‐mode manifold, a finite‐time sliding‐mode control algorithm is proposed to guarantee the suppression of the reaching phase associated with the conventional sliding‐mode control. This implies that the robustness is guaranteed throughout to entire response of the system. Meanwhile, the chattering phenomenon and the energy consumption are significantly reduced. Furthermore, in order to enhance the tracking performance in practical situations, adaptive tuning laws are developed to estimate the unknown upper bounds of the lumped uncertainties. Hence, the proposed approach has several merits, namely, fast response, accurate synchronization, and strong robustness with respect to large uncertainties and disturbances. The stability of the system in closed‐loop and the boundedness on the internal dynamics are proved by Lyapunov stability theory. Illustrative simulations were conducted to show the effectiveness of the proposed controller.

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Observer-based adaptive force–position control for nonlinear bilateral teleoperation with time delay

Cited by 24 publications

References 30 publications

New delay-dependent position/force hybrid controller design for uncertain telerobotics without force sensors

New delay-dependent position/force hybrid controller design for uncertain telerobotics without force sensors

Latency mitigation using applied HMMs for mixed reality-enhanced intuitive teleoperation in intelligent robotic welding

Global terminal sliding‐mode control for the synchronization problem of uncertain bilateral teleoperation system with time‐varying delays

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