Higher order sliding mode based impedance control for dual-user bilateral teleoperation under unknown constant time delay

Santacruz-Reyes, Hugo; García-Valdovinos, Luis G.; Jiménez-Hernández, Hugo; Salgado-Jiménez, Tomás; Garcia-Zarco, Luis A.

doi:10.1109/iros.2015.7354111

Cited by 15 publications

(12 citation statements)

References 22 publications

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“…The stability of the overall multilateral control structures in [168,41] has been proven via the Lyapunov analysis. Also, for the stability proof of the higher order sliding mode controller in [148] and the adaptive fuzzy control in [91], a Lyapunov function was applied. The input r drives the interconnection of plant G and controller K which is influenced by the output disturbances d and the measurement noise n. The signals u serve the control of the output y.…”

Section: Lyapunov's Direct Methodsmentioning

confidence: 99%

“…In the multilateral teleoperation setup of [148], a higher order sliding mode with the sliding surface I e ∈ R n is utilized:…”

Section: Sliding Mode Controlmentioning

confidence: 99%

“…with diagonal positive definite matrix K i ∈ R n×n and the Lyapunov function V = 1 2 I T e I e the sliding condition was found. Note that in [148] the effect of time delay was not compensated by the sliding mode control.…”

Section: Sliding Mode Controlmentioning

confidence: 99%

“…This network subsystem can be designed in a passive manner with the help of the TDPA or the wave variables approach. The authors of [153,148] propose to consider time delay in a Raisbeck passivity analysis but do not provide an exemplary analysis. Based on the findings in [113], a combination of Lyapunov and L p stability analysis can handle the effect of time delay.…”

Section: Time Delaymentioning

confidence: 99%

“…In [111], the time delay was considered in combination with H ∞ control though no force feedback to the master has been implemented. An exponential delay function of the Laplace domain was integrated in the impedance matrix in [148] but no stability analysis was presented. No other literature on the Raisbeck and also the Llewellyn criterion has focused multilateral systems with time delay.…”

Section: Time Delaymentioning

confidence: 99%

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Passivity-based multilateral control for delayed teleoperation

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First of all, I would like to express my deep gratitude to my research supervisors, Professor Manuel Ferre and Jordi Artigas, for their patient guidance, enthusiastic encouragement and useful critiques of this thesis. Thanks to the unconditional support of Rosa Mará Ortiz, the accomplishment of an international dissertation was a trouble-free experience. I would like to express my great appreciation and deep respect to Professor Gerd Hirzinger and Professor Alin Albu-Schäffer for the establishment and direction of the Robotics and Mechatronics Center that provides extraordinary opportunities in terms of hardware and individual development to its scientists. Furthermore, I would like to thank Professor Jee-Hwan Ryu most sincerely for our profound discussions on passivity and time domain control in particular. Also, I would like to offer my special thanks to my colleagues at the Robotics and Mechatronics Center and the telepresence laboratory especially. My grateful thanks are directed at Christian Ott, Ribin Balanchandran, Thomas Hulin and Philipp Kremer that inspired me with discussions and advices in control theory and rendered essential assistance at the maintenance of the robot hardware. Not least, I am especially grateful for the assistance given by Bernhard Weber in the statistical analysis of this research. I wish to thank my parents and sisters for their support and encouragement throughout my educational career. My sincere thanks go to my wife Maria and my children for bringing joy in my life that supported me spiritually throughout this work. Children open up our minds and forgotten perspectives that enrich our life and often reveal alternative paths. The deepest inspiration was conveyed by my uncle who was the prototype of an educated person and a role model to me. To him I dedicate this thesis.

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