Robust observer-based adaptive synchronization control of uncertain nonlinear bilateral teleoperation systems under time-varying delay

Mehrjouyan, Ali; Menhaj, Mohammad Bagher; Khosravi, Mohammad A.

doi:10.1016/j.measurement.2021.109542

Cited by 22 publications

(12 citation statements)

References 56 publications

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“…If the control signals will be recommended as follows: (27) such that u ri is the robustifying term of the master-slave control signals and φi is an approximation of 𝜙 i . The control signal of the modeled environment using fuzzy logic can be obtained as follows [1][2][3][4][5]:…”

Section: Recommended Control Methodsmentioning

confidence: 99%

“…Besides, x ew (q s , qs , qs ) is considered as the input for the fuzzy system. Because of the inherent delay within the communication channel, the environment estimator in the master side can be defined as [1][2][3][4][5]:…”

Section: Recommended Control Methodsmentioning

confidence: 99%

“…Due to their extensive application in systems implementing control without any human interference remotely, and especially because of their role in doing dangerous and difficult tasks, teleoperation systems have gained significance in today's life [1][2][3][4][5]. To mention, some of the applications of these systems are remote surgery, space exploration, nuclear plants, submarines and medical simulations.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design of robust adaptive fuzzy control for uncertain bilateral teleoperation systems based on backstepping approach

Bouteraa

Alattas

Peng

et al. 2023

IET Control Theory & Appl

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In this study, a novel method based on a robust adaptive fuzzy control approach is developed for nonlinear teleoperation systems. Its main objectives are to ensure system stability and properly mitigating parametric uncertainties stemming from external disturbances and un‐modelled dynamics. For the communication channel, instead of the direct transmission of environmental torque signals, the approximated environmental parameters by the fuzzy system are transmitted to the master side for the prediction of environmental torque, thus successfully avoiding the transmission of the power signals in the delayed communication channel and solving the passivity problem in the teleoperation system. Besides, a trajectory generator is employed in the master side, whereas a trajectory smoothing is provided in the slave side. Theoretically, it was proven that both position tracking and force feedback problems are attained. Using Lyapunov stability analysis, this work illustrates that the robust adaptive fuzzy controller based on the backstepping approach guarantees the system's asymptotic stability. Simulation results confirm the efficiency of the suggested control technique in achieving the stability and tracking objectives of the uncertain nonlinear teleoperation system.

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Section: Recommended Control Methodsmentioning

confidence: 99%

Section: Recommended Control Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design of robust adaptive fuzzy control for uncertain bilateral teleoperation systems based on backstepping approach

Bouteraa

Alattas

Peng

et al. 2023

IET Control Theory & Appl

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“…Several chaotic synchronization methods have been proposed, including adaptive synchronization control [ 21 ], backstepping control [ 22 ], nonlinear feedback control [ 23 ], and drive-response synchronization control [ 24 ]. Moon Sungju et al investigated the self-synchronization problem of high-dimensional Lorenz systems and showed that satisfactory synchronization results could not be obtained when the dimensions of the drive and response systems were different [ 25 ].…”

Section: Introductionmentioning

confidence: 99%

FPGA-Based Implementation and Synchronization Design of a New Five-Dimensional Hyperchaotic System

Wang

et al. 2022

Entropy

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Considering the security of a communication system, designing a high-dimensional complex chaotic system suitable for chaotic synchronization has become a key problem in chaotic secure communication. In this paper, a new 5-D hyperchaotic system with high order nonlinear terms was constructed and proved to be hyperchaotic by dynamical characterization characteristics, the maximum Lyapunov exponent was close to 2, and there was a better permutation entropy index, while a valid chaotic sequence could be generated in three cycles in the FPGA (Field Programmable Gate Array)-based implementation. A multivariable nonlinear feedback synchronous controller based on FPGA was proposed to design and implement synchronization of high order complex hyperchaotic systems. The results show that the error signal converged to 0 rapidly under the effect of the nonlinear feedback synchronous controller. This lays the foundation for the synchronization of high order complex chaotic systems.

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“…The results demonstrate better tracking performance for force signals. A modified robust adaptive controller with a novel adaptive torque observer for nonlinear teleoperation systems has been proposed in [ 5 ] to overcome time-varying delays, external disturbances and uncertainties in the system dynamics. This structure is relaxed from acceleration measurement and does not require force sensors.…”

Section: Introductionmentioning

confidence: 99%

Sensors Allocation and Observer Design for Discrete Bilateral Teleoperation Systems with Multi-Rate Sampling

Ghavifekr

Fazio

Velázquez

et al. 2022

Sensors

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This study addresses sensor allocation by analyzing exponential stability for discrete-time teleoperation systems. Previous studies mostly concentrate on the continuous-time teleoperation systems and neglect the management of significant practical phenomena, such as data-swap, the effect of sampling rates of samplers, and refresh rates of actuators on the system’s stability. A multi-rate sampling approach is proposed in this study, given the isolation of the master and slave robots in teleoperation systems which may have different hardware restrictions. This architecture collects data through numerous sensors with various sampling rates, assuming that a continuous-time controller stabilizes a linear teleoperation system. The aim is to assign each position and velocity signals to sensors with different sampling rates and divide the state vector between sensors to guarantee the stability of the resulting multi-rate sampled-data teleoperation system. Sufficient Krasovskii-based conditions will be provided to preserve the exponential stability of the system. This problem will be transformed into a mixed-integer program with LMIs (linear matrix inequalities). These conditions are also used to design the observers for the multi-rate teleoperation systems whose estimation errors converge exponentially to the origin. The results are validated by numerical simulations which are useful in designing sensor networks for teleoperation systems.

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Robust observer-based adaptive synchronization control of uncertain nonlinear bilateral teleoperation systems under time-varying delay

Cited by 22 publications

References 56 publications

Design of robust adaptive fuzzy control for uncertain bilateral teleoperation systems based on backstepping approach

Design of robust adaptive fuzzy control for uncertain bilateral teleoperation systems based on backstepping approach

FPGA-Based Implementation and Synchronization Design of a New Five-Dimensional Hyperchaotic System

Sensors Allocation and Observer Design for Discrete Bilateral Teleoperation Systems with Multi-Rate Sampling

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