Passivity-based control framework for task-space bilateral teleoperation with parametric uncertainty over unreliable networks

Hu, Hsin Chen; Liu, Yen‐Chen

doi:10.1016/j.isatra.2017.07.024

Cited by 25 publications

(15 citation statements)

References 34 publications

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“…Theorem 2. Consider the bilateral teleoperation system described in (1), (2), and the PD-like controllers (25), (26) under passive external forces (6). If the master and slave robots transmit their output signals over the communication network whenever the triggering conditions (27), (28) for master robot and (29), (30) for slave robot are satisfied, respectively, then, for the range of gains and delays satisfying…”

Section: Pd-like Controllermentioning

confidence: 99%

“…Corollary 1. Consider the bilateral teleoperation system described in (1), (2), and the PD-like controllers (25), (26) under passive external forces (6). If the robots transmit their output signals over the communication network whenever the triggering conditions…”

Section: Pd-like Controllermentioning

confidence: 99%

“…Theorem 3. Consider the bilateral teleoperation system described in (1), (2) without the measurements of velocity signals under the assumption of passive external forces (6) and velocities (49). For the P-like controllers (46) and (47) together with velocity estimators (48), if the master and slave robots transmit their output signals over the communication network whenever the triggering conditions (50) and (51) are satisfied, respectively, then, for the range of gains and delays satisfying the condition that…”

Section: Controller Without Velocity Measurementmentioning

confidence: 99%

“…Corollary 2. Consider the teleoperation system described in (1), (2), and the P-like controllers (7), (8) with passive external forces (6). If the robots transmit the output signals over a communication network whenever the conditions are satisfied, then, for the range of gains and delays satisfying (11), the system is stable and lim t→∞ e(t) = 0.…”

Section: Additional Remarks For Triggering Conditionsmentioning

confidence: 99%

“…Therefore, unreliable communication resulting from packet switched networks (PSNs) * with the use of the Internet should be taken into account in the studies of control framework for bilateral teleoperation systems. 5,6 As mentioned earlier, stability has been the most significant issue in the study of bilateral teleoperation because the presence of communication delays between the master and slave robots may jeopardize the stability of closed-loop control systems. [7][8][9] Passivity-based control schemes, such as scattering transformation and wave variables, have been proposed to cope with time delays.…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear bilateral teleoperators under event‐driven communication with constant time delays

Liu

2019

Intl J Robust & Nonlinear

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Bilateral teleoperation systems provide a platform for human operators to remotely manipulate slave robots in engaging various tasks in remote environments. Most of the previous studies in bilateral teleoperation were developed under continuous transmission or periodic communication with fixed data exchanging rates. This paper presents control schemes for bilateral teleoperation systems using nonperiodic event-driven communication. By using P-like and PD-like controllers, this study proposes triggering conditions for teleoperators to reduce network access frequency so that robots only transmit output signals when necessary. Stability and position tracking of the control system are studied, and nonzero minimum interevent time is guaranteed. The proposed event-driven teleoperation is studied with a velocity estimator to avoid the requirement of velocity information in the controller and triggering condition. Without velocity measurements, the boundedness of tracking errors and stability are ensured for teleoperation systems under event-driven communication.Simulations and experiments are illustrated to validate the performance of the proposed event-driven teleoperation systems.

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