On the finite time force estimation for bilateral teleoperation of robot manipulators with time varying delays

Guajardo-Benavides, Evert J.; Arteaga, Marco A.

doi:10.1016/j.conengprac.2023.105622

Cited by 9 publications

(1 citation statement)

References 26 publications

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“…The presence of communication time delays and model uncertainties can significantly impact the transparency and stability of teleoperation systems [36,37]. For constant delays, a terminal sliding-mode controller was discussed for time-delayed nonlinear teleoperation systems [38].…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive-Sliding-Mode Control for Teleoperation Systems with Time-Varying Delays and Uncertainties

Chang,

Yang,

Lin

2024

Robotics

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Master–slave teleoperation systems with haptic feedback enable human operators to interact with objects or perform tasks in remote environments. This paper presents a sliding-mode control scheme tailored for bilateral teleoperation systems operating in the presence of unknown uncertainties and time-varying delays. To address unknown but bounded uncertainties, adaptive laws are derived alongside controller design. Additionally, a linear matrix inequality is solved to determine the allowable bound of delays. Stability of the closed-loop system is ensured through Lyapunov–Krasovskii functional analysis. Two-degree-of-freedom mechanisms are self-built as haptic devices. Free-motion and force-perception scenarios are examined, with experimental results validating and comparing performances. The proposed adaptive-sliding-control method increases the position performance from 58.48% to 82.55% and the force performance from 83.48% to 99.77%. The proposed control scheme demonstrates enhanced position tracking and force perception in bilateral teleoperation systems.

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Section: Introductionmentioning

confidence: 99%

Robust Adaptive-Sliding-Mode Control for Teleoperation Systems with Time-Varying Delays and Uncertainties

Chang,

Yang,

Lin

2024

Robotics

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Force and position coordination for delayed bilateral teleoperation of a manipulator robot

Santiago,

Slawiñski,

Salinas

et al. 2023

Int. J. Dynam. Control

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This paper focuses on the design and analysis of a P+d+f (Proportional, Derivative, and Force) variable control strategy aimed at delayed bilateral teleoperation of a manipulator robot, the ultimate goal of which is to obtain simultaneous coordination of force and position between the haptic device and the robot. The proposed controller changes the damping based on both the time delay and feedback power signal measured online. Unlike other P+d+f strategies, this proposal avoids terms with discontinuities in the controller, cancellation of human and environment forces and also prevents the explicit use of environment parameters. The proposal uses variable damping dependent on a feedback power signal, which reduces kinetic energy to ensure bounded control errors. Simulations are performed to verify that dual coordination is achieved without using explicit nonlinear damping in the controller or needing the parametric knowledge of the environment model, which is useful to apply the controller to most commercial manipulator robots.

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Transparency-enhanced observer-based adaptive backstepping torque–position control for teleoperation systems with position error constraint and time-varying delay

Mehrjouyan,

Menhaj,

Askarzadeh

et al. 2025

European Journal of Control

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On the finite time force estimation for bilateral teleoperation of robot manipulators with time varying delays

Cited by 9 publications

References 26 publications

Robust Adaptive-Sliding-Mode Control for Teleoperation Systems with Time-Varying Delays and Uncertainties

Robust Adaptive-Sliding-Mode Control for Teleoperation Systems with Time-Varying Delays and Uncertainties

Force and position coordination for delayed bilateral teleoperation of a manipulator robot

Transparency-enhanced observer-based adaptive backstepping torque–position control for teleoperation systems with position error constraint and time-varying delay

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