Output-Feedback Adaptive Control of Networked Teleoperation System With Time-Varying Delay and Bounded Inputs

Chen, Hua; Yang, Yana; Liu, Peter

doi:10.1109/tmech.2014.2359969

Cited by 98 publications

(37 citation statements)

References 25 publications

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“…Furthermore, with the Jacobian matrix J m ( q m ), we have the relations between the torques and the forces

τ_{m} = J_{m}^{T} false(q_{m} false) u_{m}

τ_{h} = J_{m}^{T} false(q_{m} false) F_{h}

, where u m ,

F_{h} \in R^{n}

are defined as

u_{m} : = col false(h_{m}^{T}, η_{m}^{T} false)

F_{h} : = col false(h_{h}^{T}, η_{h}^{T} false)

, respectively;

h_{k} \in R^{n_{1}}

represents the linear forces; and

η_{k} \in R^{n_{2}}

represents the moments with k = { m , h }, n = n 1 + n 2 . With

{\overset{q}{true}}_{m} = J_{m}^{- 1} false(q_{m} false) {\overset{r}{true}}_{m}

(see other works for details), finally, the task‐space model of the master can be obtained as

{\overset{M}{true}}_{m} {\overset{r}{true}}_{m} + {\overset{C}{true}}_{m} {\overset{r}{true}}_{m} + {\overset{G}{true}}_{m} + B_{f m} + D_{m} = u_{m} + F_{h},

where

J_{m}^{- 1} J_{m} = I_{n}

is used,

{\overset{M}{true}}_{m} = false(J_{m}^{- 1} false)

…”

Section: Preliminariesmentioning

confidence: 99%

Multi‐manipulators coordination for bilateral teleoperation system using fixed‐time control approach

Yang

Chen

Guan

2018

Intl J Robust & Nonlinear

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Summary In this paper, the fixed‐time synchronization control problem for bilateral teleoperation system composed of a single master manipulator and multiple cooperative slave manipulators with system uncertainties and external disturbances is addressed. The multiple cooperative slave manipulators have the capability to perform some complex tasks that are difficult or even impossible to be executed by a single slave manipulator. In order to control the multiple slave manipulators handling a common object with faster speed and higher accuracy, a new adaptive neural networks (NNs)–based fixed‐time control scheme is proposed. First, under the assumptions that the slave manipulators are rigidly grasping a nondeformable object, an integrated dynamic model composed of multiple slave manipulators and an object is derived. The object's grasping forces are concealed in the derived dynamics and can be controlled independent of the motion space. Then, a new nonsingular integral terminal sliding mode providing fixed‐time convergence of the velocity and position errors is designed with high‐degree terms and lower‐degree terms. By setting proper initial value of the integral function, the system settling time will be reduced greatly. Moreover, the corresponding adaptive NN‐based fixed‐time control approach is proposed by employing the strong approximation of the NNs. It is proved that the closed‐loop teleoperation system is semiglobally fixed‐time stable and the synchronization errors between the local manipulator and the object will converge to zero in fixed time for any initial condition of the master and the slaves. Finally, simulation and experiment are both performed to verify the effectiveness of the proposed method.

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“…Furthermore, with the Jacobian matrix J m ( q m ), we have the relations between the torques and the forces

τ_{m} = J_{m}^{T} false(q_{m} false) u_{m}

τ_{h} = J_{m}^{T} false(q_{m} false) F_{h}

, where u m ,

F_{h} \in R^{n}

are defined as

u_{m} : = col false(h_{m}^{T}, η_{m}^{T} false)

F_{h} : = col false(h_{h}^{T}, η_{h}^{T} false)

, respectively;

h_{k} \in R^{n_{1}}

represents the linear forces; and

η_{k} \in R^{n_{2}}

represents the moments with k = { m , h }, n = n 1 + n 2 . With

{\overset{q}{true}}_{m} = J_{m}^{- 1} false(q_{m} false) {\overset{r}{true}}_{m}

(see other works for details), finally, the task‐space model of the master can be obtained as

{\overset{M}{true}}_{m} {\overset{r}{true}}_{m} + {\overset{C}{true}}_{m} {\overset{r}{true}}_{m} + {\overset{G}{true}}_{m} + B_{f m} + D_{m} = u_{m} + F_{h},

where

J_{m}^{- 1} J_{m} = I_{n}

is used,

{\overset{M}{true}}_{m} = false(J_{m}^{- 1} false)

…”

Section: Preliminariesmentioning

confidence: 99%

Multi‐manipulators coordination for bilateral teleoperation system using fixed‐time control approach

Yang

Chen

Guan

2018

Intl J Robust & Nonlinear

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show abstract

“…Although the variable structure antiwindup controller showed a good performance in the integrator windup case [6], some preset parameters were needed that were difficult to determine because expert knowledge was required. Some antiwindup controllers were also based on observer [7], internal model control [8], saturation feedback control [9], and dynamic complement [10].…”

Section: Introductionmentioning

confidence: 99%

T-S Fuzzy-Based Optimal Control for Minimally Invasive Robotic Surgery with Input Saturation

Wang

Zhang

et al. 2018

Journal of Sensors

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A minimally invasive surgery robot is difficult to control when actuator saturation exists. In this paper, a Takagi-Sugeno fuzzy model-based controller is designed for a minimally invasive surgery robot with actuator saturation, which is difficult to control. The contractively invariant ellipsoid theorem is applied for the actuator saturation. The proposed scheme can be derived using the H-infinity control theorem and parallel distributed compensation. The result is rebuilt in the form of linear matrix inequalities for easier calculation by computer. Meanwhile, the uniformly ultimately bounded stable and the prescribed H-infinity control performance can be guaranteed. The proposed scheme is simulated in a Novint Falcon haptic device system.

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“…Few remarkable works deal with the control of teleoperators without relying on velocity measurements. () In the work of Garcia‐Valdovinos et al, a sliding control technique was used to control a linearized version of the local and remote manipulators, making use of measurements of the force of human and environment. An adaptive control scheme, to render the teleoperator input‐to‐state stable, was provided in the work of Polushin et al The work of Hua and Liu proves boundedness of the position error using a high‐gain velocity observer.…”

Section: Introductionmentioning

confidence: 99%

“…The stability analysis relies in the solution of a linear matrix inequality (LMI) that heavily depends on viscous friction. Furthermore, Hua et al proposed a terminal‐sliding‐mode scheme to obtain an estimation of the manipulators' velocities in finite time, and this estimation was used in a bounded proportional‐derivative‐like controller to establish, after the solution of an LMI, asymptotic convergence of position error and velocities to zero. In the work of Sarras et al, the immersion and invariance (I&I) velocity observer() was ported to the bilateral teleoperator control.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Control of bilateral teleoperators with time delays using only position measurements

Nuño

Arteaga

Espinosa-Pérez

2017

Intl J Robust & Nonlinear

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Summary A major drawback in the control of bilateral teleoperators is time delays. The nature of the communication channel that interconnects the local and the remote manipulators imposes these delays, which can be time‐varying. Several commercially available robots do not incorporate velocity sensors, and velocities are usually estimated using dirty derivatives. In this paper, we are interested in the control of bilateral teleoperators with variable time delays and without requiring velocity measurements. The proposal makes use of a second‐order dynamical controller that backpropagates damping to the local and the remote manipulators. If sufficient damping is injected in the controller and under the common passivity assumption of the human operator and the environment, it is proved that position errors and velocities are bounded. Invoking Barbalat's lemma, when the human and the environment do not inject forces in the system, it is shown that position error and velocities globally asymptotically converge to zero. A simulation comparison with other two control techniques shows the performance of the novel proposal. Experimental results evidence the robustness of the proposed scheme to interconnecting time delays.

show abstract

Output-Feedback Adaptive Control of Networked Teleoperation System With Time-Varying Delay and Bounded Inputs

Cited by 98 publications

References 25 publications

Multi‐manipulators coordination for bilateral teleoperation system using fixed‐time control approach

Multi‐manipulators coordination for bilateral teleoperation system using fixed‐time control approach

T-S Fuzzy-Based Optimal Control for Minimally Invasive Robotic Surgery with Input Saturation

Control of bilateral teleoperators with time delays using only position measurements

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