Passive four-channel multilateral shared control architecture in teleoperation

In the existing extended state convergence architecture, k -master systems can control the motion of l-slave systems to perform a certain task in a remote environment. However, dependency of this control framework on systems' parameters leads to a degraded control performance in the presence of significant parameter variations. In this study, we have integrated extended state observers in extended state convergence architecture to counter the effect of uncertainties, which has resulted in a more practical architecture for multilateral teleoperation systems. In order to validate the proposed enhanced architecture, simulations are performed in MATLAB/Simulink environment by considering a symmetric (2 × 2) as well as asymmetric (2 × 1) teleoperation system. A comparative assessment with the existing state convergence architecture proves the superiority of the proposed architecture. In addition, hardware experimentation is carried out on Quanser QUBE-servo systems by setting up an asymmetric (1 × 2) teleoperation system in the QUARC environment.

show abstract

“…Now, we consider an asymmetrical 2×1 teleoperation system (18) with the following nominal plant models:…”

Section: Resultsmentioning

confidence: 99%

Disturbance Observer-Based Extended State Convergence Architecture for Multilateral Teleoperation Systems, 1-10.

Asad¹,

Farooq²,

Dey³

et al. 2023

International Journal of Robotics and Automation

View full text Add to dashboard Cite

show abstract

“…, )). Substituting (24) and (25) into (1) and considering Property 3 which states that the dynamics are linearly parameterizable, the new system dynamics can be expressed as…”

Section: Wave Variable and The Proposed Methodsmentioning

confidence: 99%

“…ℎ and en stand for the human and environment forces, respectively. Important properties of the above nonlinear dynamic model, which will be used in this paper, are as follows [25,30].…”

Section: Modeling the -Dof Multilateral Teleoperation Systemmentioning

confidence: 99%

“…The SMMS teleoperation is firstly introduced in [24]. Later, the single-master-dual-slave scenario is investigated under constant time delays for a linear one-DOF teleoperation system in [17,[25][26][27][28]. In a SMMS system, the multiple slave robots should not only coordinate their motions (e.g., robotic network as a surveillance sensor network) but also perform cooperative manipulation and grasping of a common object [19], as shown in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays

Sun

Naghdy

2016

Journal of Sensors

View full text Add to dashboard Cite

A novel control algorithm based on the modified wave-variable controllers is proposed to achieve accurate position synchronization and reasonable force tracking of the nonlinear single-master-multiple-slave teleoperation system and simultaneously guarantee overall system’s stability in the presence of large time-varying delays. The system stability in different scenarios of human and environment situations has been analyzed. The proposed method is validated through experimental work based on the 3-DOF trilateral teleoperation system consisting of three different manipulators. The experimental results clearly demonstrate the feasibility of the proposed algorithm to achieve high transparency and robust stability in nonlinear single-master-multiple-slave teleoperation system in the presence of time-varying delays.

show abstract

“…For passivity analysis of a trilateral teleoperator, Wang et al [6] proposed three different passive four-channel architectures. The passive control architectures can ensure stability even in the case of large time delays.…”

Section: Introductionmentioning

confidence: 99%

Conservatism of passivity criteria for stability analysis of trilateral haptic systems

Tavakoli

Mendez

et al. 2013

2013 World Haptics Conference (WHC)

View full text Add to dashboard Cite

Trilateral haptic systems can be modeled as three-port networks. Analysis of coupled stability of a three-port network can be accomplished in either the passivity or the absolute stability frameworks assuming all three ports are connected to passive but otherwise unknown terminations. This paper first reviews our recent results in terms of passivity and absolute stability criteria for general threeport networks -both criteria are founded on the properties of a positive-real Hermitian matrix. Next, we show that the absolute stability criterion is less conservative than the passivity criterion and that the two criteria become the same when the trilateral system is represented by a reciprocal immitance matrix. Then, to show how the two criteria may be utilized at the system design stage, we apply them to the problem of designing controllers for a dual-user haptic teleoperation system. Using the two criteria, controllers are then designed and compared in terms of conservatism and performance in simulations.

show abstract

Passive four-channel multilateral shared control architecture in teleoperation

Cited by 10 publications

References 20 publications

Disturbance Observer-Based Extended State Convergence Architecture for Multilateral Teleoperation Systems, 1-10.

Disturbance Observer-Based Extended State Convergence Architecture for Multilateral Teleoperation Systems, 1-10.

Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays

Conservatism of passivity criteria for stability analysis of trilateral haptic systems

Contact Info

Product

Resources

About