Passivity-based control for bilateral teleoperation: A tutorial

Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

“…In this paper, the measured human and environmental torques are modeled as (14)- (15) which contains position, velocity, the measured force signals including acceleration signals as well as the unmeasurable noises plus model errors [16]- [17].…”

“…The fuzzy logic controller can be represented as (17) by introducing the concept of the fuzzy basic function vector ( ( )):…”

“…In this section, the proposed system is compared with the conventional PD+d system in [17]. The time delays in this experiment are approximately 600 s with 100 ms variations, and the rate of the time delay is around 0.1.…”

“…The time delays in this experiment are approximately 600 s with 100 ms variations, and the rate of the time delay is around 0.1. In order to guarantee stability, the parameters in the system in [17] are required to satisfy 4 > ( 1 2 + 2 2 ) , ≥ and ≥ . Therefore, we set the differential gain = 3 , and the proportional gains = = 3 .…”

“…Hence, = = 1.5 . The PD+d system in [17] also uses the scaling gain √1 − ̅ 1,2 for velocity transmission. It is noticeable that when ̅ 1,2 ≥ 1, this approach is too conservative and velocities cannot be transmitted.…”