Nonlinear trilateral teleoperation stability analysis subjected to time-varying delays

Hashemzadeh, Farzad; Sharifi, Mojtaba; Tavakoli, Mahdi

doi:10.1016/j.conengprac.2016.08.004

Cited by 38 publications

(16 citation statements)

References 23 publications

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“…The above equation directly points to Equation (5) of Hashemzadeh et al (2016); so, the remark 2 is satisfied. To achieve Equations (6)-(8) of the mentioned paper, it is easy to consider D as follows…”

Section: Novel Design For Simultaneous Training and Therapy In Telerementioning

confidence: 91%

“…The authority sharing structure in related papers like in Khademian and Hashtrudi-Zaad (2012), Li et al (2015), and Hashemzadeh et al (2016) can be regarded as a particular case of the current research by applying matrices D, L, and P ≥ 0. For example, the one proposed in Hashemzadeh et al (2016) can be implemented in the structure of this paper by considering…”

Section: Novel Design For Simultaneous Training and Therapy In Telerementioning

confidence: 99%

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Multi-Lateral Teleoperation Based on Multi-Agent Framework: Application to Simultaneous Training and Therapy in Telerehabilitation

et al. 2020

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In this paper, a new scheme for multi-lateral remote rehabilitation is proposed. There exist one therapist, one patient, and several trainees, who are participating in the process of telerehabilitation (TR) in this scheme. This kind of strategy helps the therapist to facilitate the neurorehabilitation remotely. Thus, the patients can stay in their homes, resulting in safer and less expensive costs. Meanwhile, several trainees in medical education centers can be trained by participating partially in the rehabilitation process. The trainees participate in a “hands-on” manner; so, they feel like they are rehabilitating the patient directly. For implementing such a scheme, a novel theoretical method is proposed using the power of multi-agent systems (MAS) theory into the multi-lateral teleoperation, based on the self-intelligence in the MAS. In the previous related works, changing the number of participants in the multi-lateral teleoperation tasks required redesigning the controllers; while, in this paper using both of the decentralized control and the self-intelligence of the MAS, avoids the need for redesigning the controller in the proposed structure. Moreover, in this research, uncertainties in the operators' dynamics, as well as time-varying delays in the communication channels, are taken into account. It is shown that the proposed structure has two tuning matrices ( L and D ) that can be used for different scenarios of multi-lateral teleoperation. By choosing proper tuning matrices, many related works about the multi-lateral teleoperation/telerehabilitation process can be implemented. In the final section of the paper, several scenarios were introduced to achieve “Simultaneous Training and Therapy” in TR and are implemented with the proposed structure. The results confirmed the stability and performance of the proposed framework.

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Section: Novel Design For Simultaneous Training and Therapy In Telerementioning

confidence: 91%

Section: Novel Design For Simultaneous Training and Therapy In Telerementioning

confidence: 99%

Multi-Lateral Teleoperation Based on Multi-Agent Framework: Application to Simultaneous Training and Therapy in Telerehabilitation

et al. 2020

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“…With this property, it is widely used in outer space exploration, underwater operation, nuclear reaction and minimally invasive surgery [1]. In recent years, teleoperation has been deeply explored on passivity/stability maintenance [2]- [5], transparency enhancement [6]- [8], haptic feedback [9]- [14] and disturbances compensation [15]- [17]. However, when it comes to the teleoperation control of industrial robots, the practical workspace and Degree of Freedom (DoF) of the master haptic device usually cannot cover those of the industrial robot, due to asymmetrical master-slave robotic mechanical structures.…”

Section: Introductionmentioning

confidence: 99%

A New Mixed-Reality-Based Teleoperation System for Telepresence and Maneuverability Enhancement

Sun

Kiselev

Liao

et al. 2020

IEEE Trans. Human-Mach. Syst.

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“…For example, Li et al 10 studied the synchronization of stochastic hybrid coupled systems with multi-weights and mixed delays. Moreover, time delays, which may affect dynamic behaviors, are inevitably encountered in many practical systems, [10][11][12][13] and it is therefore reasonable and necessary to investigate synchronization for stochastic-delayed coupled systems on networks (SDCN).…”

Section: Introductionmentioning

confidence: 99%

Synchronization for stochastic hybrid coupled controlled systems with Lévy noise

Zhou

2020

Math Methods in App Sciences

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In this paper, synchronization for stochastic hybrid-delayed coupled systems with Lévy noise on a network (SHDCLN) is investigated via aperiodically intermittent control. Here time delays, Markovian switching and Lévy noise are considered on a network simultaneously for the first time. After that, by means of Lyapunov method, graph theory, and some techniques of inequality, some sufficient conditions are derived to guarantee the synchronization for SHDCLN. In addition, the designed range of aperiodically intermittent controller parameters is shown. Meanwhile, the coupling strength and the perturbed intensity of noise have a great impact on the intensity of control. Then, we investigate synchronization for stochastic hybrid delayed Chua's circuits with Lévy noise on a network as a practical application of our theoretical results. Finally, a numerical example is given to illustrate the effectiveness of the theoretical results.

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Nonlinear trilateral teleoperation stability analysis subjected to time-varying delays

Cited by 38 publications

References 23 publications

Multi-Lateral Teleoperation Based on Multi-Agent Framework: Application to Simultaneous Training and Therapy in Telerehabilitation

Multi-Lateral Teleoperation Based on Multi-Agent Framework: Application to Simultaneous Training and Therapy in Telerehabilitation

A New Mixed-Reality-Based Teleoperation System for Telepresence and Maneuverability Enhancement

Synchronization for stochastic hybrid coupled controlled systems with Lévy noise

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