Predictive control approaches for bilateral teleoperation

Uddin, Riaz; Ryu, Jeha

doi:10.1016/j.arcontrol.2016.09.003

Cited by 65 publications

(35 citation statements)

References 61 publications

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“…In [209] there is a recent review of several predictive control methods with comparison and shows that a control scheme can be chosen over others for certain conditions and tasks.…”

Section: H Other Control Schemesmentioning

confidence: 99%

Toward Haptic Communications Over the 5G Tactile Internet

Αντωνάκογλου

Steinbach

et al. 2018

IEEE Commun. Surv. Tutorials

220

125

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“…In [209] there is a recent review of several predictive control methods with comparison and shows that a control scheme can be chosen over others for certain conditions and tasks.…”

Section: H Other Control Schemesmentioning

confidence: 99%

Toward Haptic Communications Over the 5G Tactile Internet

Αντωνάκογλου

Steinbach

et al. 2018

IEEE Commun. Surv. Tutorials

220

125

View full text Add to dashboard Cite

show abstract

“…Further, effect of disturbance terms is not considered in the design phase which can be associated with slow varying nature of the disturbance. [32][33][34] Now, by comparing the characteristic polynomial of the augmented system in equation (17) with the desired polynomials, we have jsI…”

Section: Proposed Enhanced State Convergence Architecturementioning

confidence: 99%

An enhanced state convergence architecture incorporating disturbance observer for bilateral teleoperation systems

Asad

Farooq

Bălaş

et al. 2019

International Journal of Advanced Robotic Systems

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To bilaterally control an nth-order teleoperation system modeled on state space, state convergence methodology provides an elegant way to design control gains through a solution of 3 n + 1 equations. These design conditions are obtained by allowing the master–slave error to evolve as an autonomous system and then assigning the desired dynamic behavior to the slave and error systems. The controller, thus obtained, ensures the motion synchronization of master and slave systems with adjustable force reflection to the operator. Although simple to design and easy to implement, state convergence method suffers from its dependence on model parameters, and thus the performance of the controller may degrade in the presence of parametric uncertainties. To address this limitation, we propose to integrate an extended state observer in the existing state convergence architecture which will not only compensate the modeling inaccuracies by treating them as a disturbance but will also provide the estimates of the master and slave states. These estimated states are then used to construct the bilateral controller which is designed by following the method of state convergence. In this case, 2 n + 2 additional design equations are required to be solved to fix the observer gains. To validate the proposed enhancement in the state convergence architecture, simulations and semi-real-time experiments are performed in MATLAB/Simulink environment on a single degree-of-freedom teleoperation system.

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“…[8] uses HoIP for the propagation of the telehapatic signal and also performs Weber sampling of the velocity signal. The stability of the global control loop is achieved through appropriate approaches, as specified in [10,11,14]. In this work, we assume that our global control loop satisfies the stability criteria, and we did not observe any instability of the global control loop during experimentation.…”

Section: Introductionmentioning

confidence: 99%

Perceptually Compressive Communication of Interactive Telehaptic Signal

Kakade

Chaudhuri

2020

Lecture Notes in Computer Science

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During telehaptic applications over a shared communication medium, Weber's law of perception based adaptive sampling scheme can be applied to reduce the data rate without degrading the perceptual quality of the haptic signal. However, the perceptual threshold (JND) is often unknown for a user. An experimental design involving bidirectional communication of haptic data over the Internet between the operator and teleoperator is carried out in this paper, which provides a real-time estimate of the Weber threshold for the telehaptic backward channel force signal. Using the proposed data-driven experimental protocol, we are able to reduce the packet rate significantly. We provide a subjective evaluation of the proposed technique to substantiate its usefulness.

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Predictive control approaches for bilateral teleoperation

Cited by 65 publications

References 61 publications

Toward Haptic Communications Over the 5G Tactile Internet

Toward Haptic Communications Over the 5G Tactile Internet

An enhanced state convergence architecture incorporating disturbance observer for bilateral teleoperation systems

Perceptually Compressive Communication of Interactive Telehaptic Signal

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