A novel multilateral teleoperation scheme with power-based time-domain passivity control

Abstract

Multilateral teleoperation systems, which are extended from the traditional bilateral teleoperation, have become subject to increasing attention in current years, with increasing industrial requirements, such as the remote operation of larger objects and more complex tasks. In this paper, a general multilateral teleoperation control problem is discussed, in which n masters remotely control n slaves through delayed communication channels. A novel communication structure is proposed to satisfy the multiple master–slave communication requirement, in which weighting coefficients are chosen freely to perform the weighted effects of different masters or slaves. Power-based time-domain passivity control is subsequently developed for the complex multiple master–slave communication channel, to achieve the passivity of multilateral teleoperation systems under time delay. Experiments on a teleoperation system with two masters and two slaves are described; the results verify the effectiveness of the proposed control scheme.

Two-Layer-Based Multiarms Bilateral Teleoperation Architecture

“…An improved version of this kind of architecture, the power-based TDPC (PTDPC), has been proposed by Ye et al [12], where the power flow, rather than the energy flow, is monitored to achieve a smoother activation of the PC. An example of MLMR implementation of the PTDPC has been developed by Chen et al [13]. In particular, the SLSR PTDPC architecture is extended to solve the passivity problem in an MLMR scenario and a novel communication structure allows the system to deal with the complexity of the communication channel when multiple local and remote devices are interconnected.…”

Normalized passivity control for robust tuning in real‐time hybrid tests

“…26 In Coelho et al, 27 the passivity controller is described as measuring the energy flow in the system and adaptively dissipating energy by acting as a damper to ensure passivity in the communications networks coupling the dynamics at either end. Chen et al 28 apply passivity control to a multilateral teleoperation system consisting of two masters and slaves. They utilize a passivity observer which monitors the net energy flow into the system which activates the passivity controller, a time-varying damping element, to dissipate excess energy when the energy flow becomes negative.…”