پیوندهای مفید
آمار
| تعداد نشریات | 8 |
| تعداد شماره‌ها | 417 |
| تعداد مقالات | 5,494 |
| تعداد مشاهده مقاله | 6,136,126 |
| تعداد دریافت فایل اصل مقاله | 5,380,620 |
Nonlinear Control of Bilateral Teleoperators Interacting Non-passive Termination Forces | ||
| AUT Journal of Mechanical Engineering | ||
| مقاله 7، دوره 4، شماره 3، آذر 2020، صفحه 381-394 اصل مقاله (1.39 M) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/ajme.2019.16621.5829 | ||
| نویسندگان | ||
| Robab Ebrahimi Bavili1؛ Ahmad Akbari1؛ Reza Mahboobi Esfanjani* 2 | ||
| 1Sahand University of Technology | ||
| 2Sahand University of Technology, | ||
| چکیده | ||
| In this paper, an interconnection and damping assignment passivity based controller is developed for nonlinear bilateral teleoperation system. The aim is to track the position and force in the teleoperation system in the presence of non-passive external interactions and asymmetric variable time-delay in the communication channel. For this end, a nonlinear control law is designed based on the notion of time-delay Port-Hamiltonian systems for unforced teleoperator and the Lyapunov-Krasovskii theorem. Sufficient synthesis conditions are derived in terms of linear matrix inequalities to tune the parameters of controller. Then, by Lyapunov redesign scheme, an auxiliary controller is developed to assure the stable position tracking in the presence of non-passive operator and/or environment. The main contribution of the proposed method is that the stability and position tracking of system is attained via a fixed-structure controller in the presence of non-passive interaction forces without need to their dynamical models and force sensor. Since the proposed design conditions include the upper bounds of the varying time-delays and their rates; they are less conservative than some rival methods in literature. Finally, transparency of the proposed scheme is proved. Simulation results on a 2-degree of freedom teleoperation system are compared to rival methods to demonstrate the merits of the proposed strategy. | ||
| کلیدواژه‌ها | ||
| Bilateral teleoperation system؛ Passivity based controller؛ Non-passive interaction؛ stability and tracking؛ Lyapunov-Krasovskii theorem | ||
| مراجع | ||
|
[1] P.F. Hokayem, M.W. Spong, Bilateral teleoperation: An historical survey, Automatica, 42(12) (2006) 2035-2057. [2] V. Banthia, K. Zareinia, S. Balakrishnan, N. Sepehri, A Lyapunov Stable Controller for Bilateral Haptic Teleoperation of Single-Rod Hydraulic Actuators, Journal of Dynamic Systems, Measurement, and Control, 139(11) (2017) 111001-111016. [3] P. Arcara, C. Melchiorri, Control schemes for teleoperation with time delay: A comparative study, Robotics and Autonomous Systems, 38(1) (2002) 49-64. [4] E. Nuno, L. Basañez, R. Ortega, Passivity-based control for bilateral teleoperation: A tutorial, Automatica, 47(3) (2011) 485-495. [5] R.J. Anderson, M.W. Spong, Bilateral control of teleoperators with time delay, IEEE Transactions on Automatic Control, 34(5) (1989) 494-501. [6] G. Niemeyer, J.E. Slotine, Stable adaptive teleoperation, IEEE Journal of Oceanic Engineering, 16(1) (1991) 152-162. [7] E. Nuno, L. Basanez, R. Ortega, M.W. Spong, Position Tracking for Non-linear Teleoperators with Variable Time Delay, International Journal of Robotics Research, 28(7) (2009) 895-910. [8] E. Nuno, L. Basanez, M. Prada, Asymptotic stability of teleoperators with variable time-delays, IEEE International Conference on Robotics and Automation, 2009, pp. 4332-4337. [9] I.G. Polushin, P.X. Liu, C.H. Lung, G.D. On, Position-Error Based Schemes for Bilateral Teleoperation With Time Delay: Theory and Experiments, Transaction of ASME Journal on Dynamic Systems, Measurement and Control, 132(2010) 031008-11. [10] N. Chopra, M.W. Spong, R. Lozano, Synchronization of bilateral teleoperators with time delay, Automatica, 44(8) (2008) 2142-2148. [11] E. Nuno, R. Ortega, L. Basanez, An adaptive controller for nonlinear teleoperators, Automatica 46 (2010a) 155-159. [12] N. Chopra, M.W. Spong, Adaptive coordination control of bilateral teleoperators with time delay, 43rd IEEE Conference on Decision and Control (CDC), 2004, pp. 4540-4547. [13] M. Dyck, A. Jazayeri, M. Tavakoli, Is the human operator in a teleoperation system passive?, World Haptics Conference (WHC), 2013, pp. 683-688. [14] A. Jazayeri, M. Dyck, M. Tavakoli, Stability analysis of teleoperation systems under strictly passive and non-passive operator, World Haptics Conference (WHC), 2013, pp. 695-700. [15] K. Mohammadi, H.A. Talebi, M. Zareinejad, Lyapunov stability analysis of a bilateral teleoperation system interacting with active environment, 3rd RSI International Conference on Robotics and Mechatronics (ICROM), 2015, pp. 096-101. [16] F. Hashemzadeh, M. Tavakoli, Position and Force Tracking in Nonlinear Teleoperation Systems under Varying Delays, Robotica, 33 (2014) 1003-1016. [17] S.F. Atashzar, I.G. Polushin, R. Patel, Networked teleoperation with non-passive environment: Application to tele-rehabilitation, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012. [18] R. Lozano, N. Chopra, M.W. Spong, Convergence Analysis of Bilateral Teleoperation with Constant Human Input, American Control Conference, 2007, pp. 1443-1448. [19] A. Jazayeri, M. Tavakoli, Bilateral teleoperation system stability with non-passive and strictly passive operator or environment, Control Engineering Practice, 40 (2015) 45-60. [20] C. Hua, P.X. Liu, Convergence Analysis of Teleoperation Systems With Unsymmetric Time-Varying Delays, IEEE Transactions on Circuits and Systems II: Express Briefs, 56(3) (2009) 240-244. [21] SH. Islam, P. Liu, A. El Saddik, Nonlinear control for teleoperation systems with time varying delay, Nonlinear Dynamics, 76 (2014) 931-954. [22] SH. Islam, P. Liu, A. El Saddik, J. Dias, L. Seneviratne, Bilateral shared autonomous systems with passive and nonpassive input forces under time varying delay, ISA Transaction, 54 (2014),218-228. [23] F. Koochaki, H.A. Talebi, Position coordination of nonlinear teleoperation for unrestricted non-passive environment and operator in the presence of time delay, 4th International Conference on Control, Instrumentation, and Automation (ICCIA), 2016, pp. 407-412. [24] R. Ortega, E. García-Canseco, Interconnection and Damping Assignment Passivity-Based Control: A Survey, European Journal of Control, 10(5) (2004) 432-450. [25] R. Yang, Y. Wang, Stability for a class of nonlinear time-delay systems via Hamiltonian functional method, Science China Information Sciences, 55(5) (2012) 1218-1228. [26] R. Yang, Y. Wang, Finite-time stability analysis and H∞ control for a class of nonlinear time-delay Hamiltonian systems, Automatica, 49(2) (2013) 390-401. [27] W. Sun, L. Peng, Robust Adaptive Control of Uncertain Stochastic Hamiltonian Systems with Time Varying Delay, Asian Journal of Control, 18(2) (2016) 642-651.
| ||
|
آمار تعداد مشاهده مقاله: 352 تعداد دریافت فایل اصل مقاله: 347 |
||