Time-Delayed Output Feedback Bilateral Teleoperation With Force Estimation for $n$-DOF Nonlinear Manipulators

Daly, J.M.; Wang, David W. L.

doi:10.1109/tcst.2013.2242329

Cited by 66 publications

(26 citation statements)

References 11 publications

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“…In the presence of time-varying disturbances (2 < t 4). It can be observed from the response curves of position and force tracking errors during 2 < t 4 in Figures 5(e) 5(f), 7(e) and 7(f) that: (1) The proposed controller guarantees the position and force tracking errors converge to a small bounded region in the presence of persistent bounded disturbances as stated in Theorem 3; (2) All the three composite controllers guarantee the position and force tracking errors converge to a bounded region, while the convergence region under the proposed controller is much smaller than other methods; (3) The ultimate bounds under the baseline controller are really large. It is observed from Figure 6(e)-(h) that the proposed controller has the best position tracking performance among the four control methods.…”

Section: Controller Design and Simulation Scenario Settingmentioning

confidence: 90%

“…Before presenting our proposed method, it is necessary to analyse the existing bilateral control methods in a technique depth. The position dynamics of master and slave robots in task space can be obtained from (1) and 2:…”

Section: Analysis Of Existing Composite Bilateral Control Methodsmentioning

confidence: 99%

“…Teleoperation is the operation to control the positions of a remote manipulator and haptic the forces applied on it [1]. The teleoperation systems extend the operator's sensing and manipulation capability to remote locations and are widely utilized in the cases where humans are unable to perform a certain task (e.g., nuclear waste site and radioactive material management, undersea and outer space exploration [2]), or where operators want to improve semi-autonomous execution of a task (e.g., minimally invasive telesurgery and telerehabilitation [3]).…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Nonlinear composite bilateral control framework for n-DOF teleoperation systems with disturbances

Zhao¹,

Yang²,

Liu

et al. 2018

Sci. China Inf. Sci.

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This paper proposes a new nonlinear composite bilateral control framework for n-degree-offreedom (n-DOF) teleoperation systems with external disturbances. Different with the existing methods which usually regard the dynamics of the master and slave robots as linear impedance models, the proposed control framework fully considers the nonlinear dynamics of the n-DOF teleoperation systems. Central to the proposed framework is the utilization of nonlinear disturbance observers for estimating the disturbances in master and slave robot systems. The nonlinear composite bilateral controller is constructed by incorporating the disturbance estimations into the nonlinear feedback linearization controller. The proposed control method guarantees satisfactory position tracking performance and desired remote force haptic simultaneously for the n-DOF teleoperation systems with external disturbances. The effectiveness of the proposed control framework is validated by its applications on 2-DOF teleoperation systems.

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Section: Controller Design and Simulation Scenario Settingmentioning

confidence: 90%

Section: Analysis Of Existing Composite Bilateral Control Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Nonlinear composite bilateral control framework for n-DOF teleoperation systems with disturbances

Zhao¹,

Yang²,

Liu

et al. 2018

Sci. China Inf. Sci.

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show abstract

“…The associated noises are also high and force sensor installation may be difficult. Eliminating the force sensors is achieved by estimating the external forces acting on the master and slave robots [18][19][20][21]. The estimation of external forces is presented on the master and slave in combination with a modified version of the sliding mode bilateral teleoperation algorithm [18,19].…”

Section: Introductionmentioning

confidence: 99%

“…Eliminating the force sensors is achieved by estimating the external forces acting on the master and slave robots [18][19][20][21]. The estimation of external forces is presented on the master and slave in combination with a modified version of the sliding mode bilateral teleoperation algorithm [18,19]. The main drawback is that the force reflecting from the closed-loop system is not considered, whereas force reflection is one of the most important purposes of bilateral teleoperation systems.…”

Section: Introductionmentioning

confidence: 99%

Transparency Improvement by External Force Estimation in a Time-Delayed Nonlinear Bilateral Teleoperation System

Amini

Rezaei

Sarhan

et al. 2015

Journal of Dynamic Systems, Measurement, and Control

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Teleoperation systems have been developed in order to manipulate objects in environments where the presence of humans is impossible, dangerous or less effective. One of the most attractive applications is micro telemanipulation with micropositioning actuators. Due to the sensitivity of this operation, task performance should be accurately considered. The presence of force signals in the control scheme could effectively improve transparency. However, the main restriction is force measurement in micromanipulation scales. A new modified strategy for estimating the external forces acting on the master and slave robots is the major contribution of this paper. The main advantage of this strategy is that the necessity for force sensors is eliminated, leading to lower cost and further applicability. A novel control algorithm with estimated force signals is proposed for a general nonlinear macro–micro bilateral teleoperation system with time delay. The stability condition in the macro–micro teleoperation system with the new control algorithm is verified by means of Lyapunov stability analysis. The designed control algorithm guarantees stability of the macro–micro teleoperation system in the presence of an estimated operator and environmental force. Experimental results confirm the efficiency of the novel control algorithm in position tracking and force reflection.

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A design of disturbance observer in frequency domain for robust control of time delay system

Kim¹

2022

Adaptive Control & Signal

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Summary The disturbance observer (DOB) based robust control is widely used to suppress the effect of model uncertainty and disturbances. Improvement of disturbance suppression performance in DOB based control (DOBC) is achieved by expansion of the Q‐filter's bandwidth or equivalently increment of its cutoff frequency. However, if the system has time delay property, the bandwidth cannot be arbitrarily extended because of the stability demand of the closed loop system. Although the Q‐filter's bandwidth is restricted, there is still room for improving disturbance suppression performance by elaborately designing the Q‐filter's structure and coefficients. For the optimized design of Q‐filter, at the beginning of this paper, based on the analysis of the model uncertainty due to time delay and its upper bound, a new robust stability condition of closed loop system is derived as a type of inequality on complementary sensitivity function of whole closed loop system with DOB. Then a mixed sensitivity optimization problem for optimizing disturbance suppression performance under this stability condition is formulated with structural constraint. Finally, in order to solve this optimization problem, pseudo loop factorization and shaping method is used to transform it into standard H∞$$ {H}_{\infty } $$ control problem without the structural constraint so that it can be solved systematically. The results of illustrative examples and simulations validate the effectiveness of the proposed method.

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Time-Delayed Output Feedback Bilateral Teleoperation With Force Estimation for $n$-DOF Nonlinear Manipulators

Cited by 66 publications

References 11 publications

Nonlinear composite bilateral control framework for n-DOF teleoperation systems with disturbances

Nonlinear composite bilateral control framework for n-DOF teleoperation systems with disturbances

Transparency Improvement by External Force Estimation in a Time-Delayed Nonlinear Bilateral Teleoperation System

A design of disturbance observer in frequency domain for robust control of time delay system

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