Teleoperation of mining equipment using Optical Wireless Communications

Barroso, Alberto Rui Frutuoso; Baiden, Greg; Johnson, Julia

doi:10.1109/icufn.2015.7182639

Cited by 5 publications

(1 citation statement)

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“…These include time domain passivity control to make teleoperation system work in a wide variety of environments [9], adaptive control to estimate operator or environment models and teleoperation system uncertainties [10]- [12], sliding mode control for robustness against disturbances during task execution [13], [14], model-mediated control to reconstruct the slave environment at master site [15]- [17], gain scheduling to cope with uncertainties [18], model predictive control for constrained teleoperation with poorly known time delays [19], [20], H∞ control for multi-objective optimization [21], [22], frequency domain techniques to analyze stability of teleoperation system [23], [24], disturbance observes to lessen measurements [25], [26]. The developments in the control schemes have contributed to the enormous increase in the applications of teleoperation systems being developed for nuclear plants [27]- [29], underwater exploration [30]- [32], space missions [33]- [36], surgical procedures [37]- [41] and other industrial problems [42]- [46].…”

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confidence: 99%

Fuzzy Model Based Bilateral Control Design of Nonlinear Tele-Operation System Using Method of State Convergence

et al. 2016

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This paper presents the design of a state convergence (SC) based bilateral controller for a nonlinear teleoperation system which has been approximated by a Takagi-Sugeno (TS) fuzzy model. The selection of SC is made due to the advantages offered by this scheme both in the modeling and control design stages. The modeling stage considers master/slave systems which can be represented by n th order differential equations while the control design stage offers an easy way to determine the control gains required for assigning desired closed loop dynamics to teleoperation system. After the master/slave systems are represented by TS fuzzy models, a stabilizing fuzzy law is adopted which allows deploying the SC scheme with all its benefits to design the fuzzy bilateral controller. In this way, not only the simplicity of the design scheme is ensured but also the existing SC scheme is able to control a nonlinear teleoperation system based on its TS fuzzy model description. As an additional advantage, the SC based existing linear bilateral controller can be easily derived from the SC based proposed fuzzy bilateral controller. Various cases of master/slave systems originally reported in terms of their linear model representation and communication in the absence/presence of time delay are all discussed in the corresponding fuzzy framework. MATLAB simulations considering a one-degree-of-freedom (DoF) teleoperation system are performed to validate the proposed methodology for controlling a nonlinear teleoperation system.

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