Improving transparency of bilateral control system by sliding mode assist disturbance observer

Tian, Dapeng; Yashiro, Daisuke; Ohnishi, Kouhei

doi:10.1002/tee.21851

Cited by 13 publications

(8 citation statements)

References 28 publications

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“…However, ideal transparency is impossible to realise in practical system. According to (22), the transparency of the proposed system can be illustrated as the following equation…”

Section: Discussionmentioning

confidence: 99%

“…In this paper, two cases are simulated. In case one, two SMADOs are employed as robust compensators, which is same as the situation of [22]. In case two, the In the simulation, random noise with the magnitude of 0.5 μm is added in the response of each robot to simulate the measurement noise.…”

Section: Simulation Setupmentioning

confidence: 99%

“…The force measurement is realised by the reaction force observer (RFOB) [21], which achieves force measurement in low frequency domain without force sensors. In our previous work, a sliding‐mode assist disturbance observer (SMADO) was also presented to compensate the disturbances in wider bandwidth with better chattering alleviation in the robots [22]. The force measurement is also independently realised using the RFOB.…”

Section: Introductionmentioning

confidence: 99%

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Remote haptic sensing using sliding‐mode assist disturbance observer as force detector

Tian

Zhang

2015

IET Control Theory & Applications

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Bilateral controlled master-slave robot system is an important intermediary to realise remote haptic sensing. This study proposes a sliding-mode assist disturbance observer (SMADO) to detect force information in wider bandwidth without force sensors by making use of the fast switching of sliding-mode control values. Moreover, a bilateral control law is proposed based on the SMADO. The proposal tolerates the presence of disturbances and uncertainties in the robots. The influence of these factors is degraded by using the net forces to design the bilateral control rather than employing a robust compensation. This design shows such a feasibility that high performance haptic sensing can be achieved using the SMADO as a wide bandwidth force detector without any robust compensators. The validity of the proposal is confirmed by experiments in practice. The proposal realises the position tracking and action-reaction law between the two robots, which makes the operator vividly feel the remote object. IntroductionTransmitting the haptic sense is a challenging technology to extend and enhance human hands with many potential applications, such as space exploration, nuclear engineering and telesurgery [1]. This technology can be traced back to the teleoperation with bilateral control law in past decades. In a bilateral control system, there is a master robot and a slave robot, which transmit the motion and the forces between the human operator and the environment object. Therefore bilateral control system plays a role of an intermediary between the human operator and the environment object [2][3][4][5].Human beings sense an environment object through the mechanical distortion of the object and the reaction forces [6]. Therefore, in bilateral control system, a correspondence of positions and action-reaction forces between the master and the slave is always desired [7]. To achieve satisfactory performance, many efforts were reported in the literature. The most effective and famous one is Lawrence's four-channel control framework [8]. This method uses local and remote information of positions and forces in the control of each robot. However, there are two main problems in the algorithm. One is the requirement of force sensors. The other is the influence of disturbances and uncertainties.The force sensors increase system cost, hardware mounting difficulty and spatial requirements [9]. Besides, the bandwidth of force sensor always limits the practical performance of a bilateral control algorithm. On the other hand, the forces from the operator and the environment are not only inputs to the bilateral control but also disturbances to the master and slave robots [10]. Moreover, uncertainties of the robots also influence the performance of traditional bilateral control. Therefore the bilateral control system with disturbance rejection and without force sensors are investigated by more and more researchers.Sumiyoshi and Ohnishi [11] introduced the disturbance observer (DOB) [12] into the four-channel control, and successfully improved t...

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“…However, ideal transparency is impossible to realise in practical system. According to (22), the transparency of the proposed system can be illustrated as the following equation…”

Section: Discussionmentioning

confidence: 99%

Section: Simulation Setupmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Remote haptic sensing using sliding‐mode assist disturbance observer as force detector

Tian

Zhang

2015

IET Control Theory & Applications

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“…For linear motor driven 1-DOF (degreeof-freedom) robot, the transfer function of the slave robot ( ) is a nominal model that is an integration element as ( ) = 1/( ), where is the inertial mass. In practice, the dynamics can be guaranteed by using disturbance observer (DOB) based robust internal loop control [28,29]. Therefore, the nominal model of the robot is available in the analysis.…”

Section: Relationship Between Passivity and Force Source Designmentioning

confidence: 99%

Stability Problem of Wave Variable Based Bilateral Control: Influence of the Force Source Design

Tian

Bao

Shen

et al. 2013

Mathematical Problems in Engineering

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The wave variable has been proposed to achieve robust stability against the time delay in bilateral control system. However, the influence of the force source on the overall system is still not clear. This paper analyzes this problem and proposes a supplement to the stability analysis for wave variable based bilateral control. Based on the scattering theory, it is pointed out that the design of force source decides the passivity of the two-port network of slave robot. This passivity influences the stability of overall system. Based on the characteristic equation and small gain theorem, it is clear that inappropriate designed force source in encoding the wave variable destroys the stability in the presence of time delay. A wave domain filter makes up for the broken stability. The principle of this reparation is explained in this paper. A reference is also provided by the analysis to design the parameter of the wave domain filter. Experiments prove the correctness and validity.

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“…This technique has been properly used in different control schemes and assisted by other effective control strategies which have shown proper performance under fault-tolerant operations (see [1][2][3][4] as representative examples). Over the past years, considerable attention has been paid to the design of linear/nonlinear disturbance observers for sliding mode controller assistance in order to overcome several issues like chattering [5][6][7][8], disturbances and system uncertainties [8][9][10], coupling of MIMO systems [11], or uncertainties, disturbances, and actuator faults [12].…”

Section: Introductionmentioning

confidence: 99%

Active Disturbance Rejection Approach for Robust Fault-Tolerant Control via Observer Assisted Sliding Mode Control

Cortés‐Romero

Rojas-Cubides

Coral-Enríquez

et al. 2013

Mathematical Problems in Engineering

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This work proposes an active disturbance rejection approach for the establishment of a sliding mode control strategy in fault-tolerant operations. The core of the proposed active disturbance rejection assistance is a Generalized Proportional Integral (GPI) observer which is in charge of the active estimation of lumped nonlinear endogenous and exogenous disturbance inputs related to the creation of local sliding regimes with limited control authority. Possibilities are explored for the GPI observer assisted sliding mode control in fault-tolerant schemes. Convincing improvements are presented with respect to classical sliding mode control strategies. As a collateral advantage, the observer-based control architecture offers the possibility of chattering reduction given that a significant part of the control signal is of the continuous type. The case study considers a classical DC motor control affected by actuator faults, parametric failures, and perturbations. Experimental results and comparisons with other established sliding mode controller design methodologies, which validate the proposed approach, are provided.

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Improving transparency of bilateral control system by sliding mode assist disturbance observer

Cited by 13 publications

References 28 publications

Remote haptic sensing using sliding‐mode assist disturbance observer as force detector

Remote haptic sensing using sliding‐mode assist disturbance observer as force detector

Stability Problem of Wave Variable Based Bilateral Control: Influence of the Force Source Design

Active Disturbance Rejection Approach for Robust Fault-Tolerant Control via Observer Assisted Sliding Mode Control

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