A simple algebraic criterion for stability of Bilateral Teleoperation Systems under time-varying delays

Lima, Matheus Veiga de; Mozelli, Leonardo Amaral; Neto, Armando Alves; Souza, Fernando O.

doi:10.1016/j.ymssp.2019.06.035

Cited by 12 publications

(5 citation statements)

References 31 publications

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“…Three cases based on three different damping injection control methods are set. Case 1: in [34], the authors proposed a simplified but classical proportional damping injection control method with gravity compensation. Case 2 [38]: with the traditional proportional damping injection control, the author added an adaptive part based on parameter linearization to compensate for the gravity torque.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…By combining the dynamic master-slave interconnection with the dynamic damping injection of each robot, in [33] the authors propose a new control strategy for the time-delay bilateral teleoperation system with stable input to state. In [34], the authors designed a simplified algorithm with gravity compensation based on traditional P+d control and verified the effectiveness of the algorithm through experiments.…”

Section: Introductionmentioning

confidence: 99%

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An Adaptive Proportional Plus Damping Control for Teleoperation Systems with Asymmetric Time-Varying Communication Delays

Bao

Zhang

et al. 2022

Mathematics

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Communication delay is an important factor affecting the stability and performance of telerobotic systems. In this paper, a new adaptive proportional damping controller is proposed to improve the stability and performance of the system in the presence of the cases such as asymmetric communication delay, unknown gravity torque, friction torque, and other disturbance torques. The proposed proportional damping control method combines the RBF neural network and adaptive control strategy to compensate for the unknown torque. The stability and robustness of the system are enhanced by adding error-damping items, operator force, and environmental force items. The Lyapunov–Krasovskii functional is employed to analyze and prove the exponential stability and signal boundedness of the closed-loop system. The simulation results verify the correctness of the proposed method, and the comparison with the results of other control methods shows the effectiveness of the designed control strategy.

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Section: Simulation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An Adaptive Proportional Plus Damping Control for Teleoperation Systems with Asymmetric Time-Varying Communication Delays

Bao

Zhang

et al. 2022

Mathematics

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“…The time delays could be symmetric [26] as well as asymmetric [27]. Some recent studies on the stability analysis of asymmetric time-varying delay can be found in [28]- [30]. Most of the recent work on stability analysis with asymmetric time-varying delays employed Lyapunov-Krasovskii functional to formulate the relations among the controller parameters, and the upper bound of time-varying delays [31], [32].…”

Section: Introductionmentioning

confidence: 99%

Control of teleoperation systems in the presence of cyber attacks: A survey

Hamdan

Mahmoud

2021

IJRA

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<p>The teleoperation system is often composed of a human operator, a local master manipulator, and a remote slave manipulator that are connected by a communication network. This paper proposes a survey on feedback control design for the bilateral teleoperation systems (BTSs) in nominal situations and in the presence of cyber-attacks. The main idea of the presented methods is to achieve the stability of a delayed bilateral teleoperation system in the presence of several kinds of cyber attacks. In this paper, a comprehensive survey on control systems for BTSs under cyber-attacks is discussed. Finally, we discuss the current and future problems in this field.</p>

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“…El tercer problema se refiere a los retardos que introducen los canales de comunicación. En (Yang et al (2019)), (Li et al (2019)) y (De Lima et al (2020)) se aborda este problema, el cual se propone resolver a través de control predictivo y estableciendo un criterio de estabilidad basado en la teoría Liapunov-Krasovskii.…”

Section: Introductionunclassified

Teleoperación robusta de sistemas mecánicos basada en la estructura de control con compensación activa de perturbaciones

Almeida

Solis

Diaz

2021

Rev. iberoam. autom. inform. ind.

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<p>Se presenta una estrategia de control para garantizar la estabilidad de sistemas de teleoperación formados por mecanismos de n grados de libertad (nGDL), con incertidumbres paramétricas, perturbaciones externas, medición parcial de los vectores de estado y sin el uso de sensores de fuerza. Se asume que los mecanismos se encuentran lo suficientemente cercanos uno del otro, de tal forma que el problema de retardos ocasionados por el medio de comunicación es despreciable. La estrategia se basa en la aplicación de la estructura de control con compensación activa de perturbaciones, la cual incorpora observadores de estado discontinuos y filtros paso bajo que permiten la estimación de las variables de estado y otras señales no medidas, así como los términos de perturbación presentes en ambos sistemas, que permiten la implementación de los controladores. El desempeño de la estrategia de teleoperación se ilustra a través de experimentos con mecanismos de uno y dos grados de libertad.</p>

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A simple algebraic criterion for stability of Bilateral Teleoperation Systems under time-varying delays

Cited by 12 publications

References 31 publications

An Adaptive Proportional Plus Damping Control for Teleoperation Systems with Asymmetric Time-Varying Communication Delays

An Adaptive Proportional Plus Damping Control for Teleoperation Systems with Asymmetric Time-Varying Communication Delays

Control of teleoperation systems in the presence of cyber attacks: A survey

Teleoperación robusta de sistemas mecánicos basada en la estructura de control con compensación activa de perturbaciones

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