Force feedback control for bilateral teleoperation system with unknown Prandtl-Ishlinskii hysteresis

Chen, Hua; Wang, Yilu; Yang, Yanyan; Guan, Xinping

doi:10.1016/j.jfranklin.2020.03.001

Cited by 7 publications

(2 citation statements)

References 41 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The impedance control method demands force information. A sliding mode force observer with adaptive gains was proposed to estimate force in reference [16], which can guarantee finite time coordination control. In reference [17], a new force observer was proposed to improve transparency and achieve force-position coordination control, but it needs correct model information.…”

Section: Introductionmentioning

confidence: 99%

Force sensorless fixed-time model-free impedance coordination control for uncertain underwater teleoperation systems

Yang

Chen

Gan

et al. 2022

Preprint

Self Cite

View full text Add to dashboard Cite

New robust fixed-time model-free impedance controllers are proposed in this paper for coordination control of underwater teleoperation systems with system model uncertainties and unknown external underwater interference. Firstly, the transparency and the flexibility of the master-slave manipulators are improved without force sensor, respectively. A new terminal sliding mode force observer is designed to estimate force in fixed time by designing observer parameters. Moreover, time delay estimators are designed to compensate for the effect of model uncertainties and unknown external disturbances. Furthermore, a novel nonsingular integral terminal sliding mode (NITSM) surface and fixed-time controllers are proposed, so that master-slave coordination control can be obtained in fixed time with zero errors. The coordination performance and global stability of the underwater teleoperation systems are proved with the Lyapunov stability theory. Finally, simulation results highlight the feasibility of the proposed control scheme. The results show the super performance of the position and force coordination control for the underwater teleoperation systems.

show abstract

Section: Introductionmentioning

confidence: 99%

Force sensorless fixed-time model-free impedance coordination control for uncertain underwater teleoperation systems

Yang

Chen

Gan

et al. 2022

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…To deal with the actuator nonlinearities, many investigators have suggested diverse control techniques. In [39], a force feedback control with sliding mode observer has been studied for a bilateral teleoperation with unknown Prandtl-Ishlinskii hysteresis. In [40], synchronization control problem of bilateral teleoperation plant with Backlash-Like hysteresis has been presented.…”

Section: Introductionmentioning

confidence: 99%

Control design for bilateral teleoperation system with actuator dead-zone and time-varying delays

2022

Eur. J. Math. Appl.

View full text Add to dashboard Cite

This paper investigates the control design of a bilateral teleoperation system with input dead-zone, dynamic uncertainties, external disturbances and time-varying delay. Our objective is to achieve a robust bilateral teleoperation with guaranteed position asymptotic convergence. This is accomplished using an efficient backstepping approach combined with nonsingular fast terminal sliding mode control (NFTSMC) where the uncertain dynamics of the system are identified using radial basis function neural network (RBFNN). The upper-bounds of the external disturbances together with the RBFNN approximation errors are estimated and compensated online using adaptation algorithms. Computer simulations are provided to demonstrate the viability of the proposed control law.

show abstract

Prescribed performance output feedback synchronisation control of bilateral teleoperation system with actuator nonlinearities

Mahmoud

Maaruf

2021

International Journal of Systems Science

View full text Add to dashboard Cite

Force feedback control for bilateral teleoperation system with unknown Prandtl-Ishlinskii hysteresis

Cited by 7 publications

References 41 publications

Force sensorless fixed-time model-free impedance coordination control for uncertain underwater teleoperation systems

Force sensorless fixed-time model-free impedance coordination control for uncertain underwater teleoperation systems

Control design for bilateral teleoperation system with actuator dead-zone and time-varying delays

Prescribed performance output feedback synchronisation control of bilateral teleoperation system with actuator nonlinearities

Contact Info

Product

Resources

About