PD-like controller for delayed bilateral teleoperation of wheeled robots

Slawiñski, Emanuel; Mut, Vicente; Santiago, Diego

doi:10.1080/00207179.2016.1144234

Cited by 24 publications

(23 citation statements)

References 24 publications

(33 reference statements)

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“…Based on the + control schemes applied to bilateral teleoperation of manipulator robots [10][11][12] and mobile robots [19,20], and its recent use in delayed trilateral teleoperation of manipulator robots [25], the stability of a dual-master single mobile robot system under a master position/slave velocity strategy will be analyzed in this work.…”

Section: Trilateral Teleoperation Of a Mobile Robotmentioning

confidence: 99%

“…Now, the control action m 1 from (7) is included in (20) and Relation 8 (6) is applied over the delayed terms: …”

Section: Theorem 9 Consider a Teleoperation System Wherein Two Humanmentioning

confidence: 99%

“…Besides, the parameter linearly maps the master position to a velocity reference, and z represents the available information about the mobile robot acceleratioṅ but an infinitesimal before the current time instant. It is assumed that this signal can be represented by the real mobile robot acceleratioṅplus an infinitesimal error ( ) ∈ ∞ [20,29]:…”

Section: Trilateral Teleoperation Of a Mobile Robotmentioning

confidence: 99%

“…In the last years, many researches were focused on the use of + schemes to get a stable operation in the sense of Lyapunov by using a sufficiently large damping injected into master and slave [10][11][12]. Besides, many strategies designed for teleoperation of manipulators were tested also into bilateral teleoperation of WMR (wheeled mobile robots), for example, control based on impedance [13], control based on -passivity [14,15], schemes including prediction and augmented reality [16], haptic teledriving of a WMR coupled with slippage, where an acceleration-level control law is proposed to assure the passivity of the bilateral system [17,18], and also + control schemes [19,20]. It is important to remark that the stability analysis of a master position/slave velocity coupling is different mathematically to the common position/position used in a teleoperation 2 Mathematical Problems in Engineering between two manipulators due to the master-slave kinematic dissimilarity: master device (e.g., joystick) has a bounded workspace, while slave mobile robot can navigate by an unbounded workspace.…”

Section: Introductionmentioning

confidence: 99%

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Delayed Trilateral Teleoperation of a Mobile Robot

Santiago

Slawiñski

Mut

2017

Mathematical Problems in Engineering

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This paper analyzes the stability of a trilateral teleoperation system of a mobile robot. This type of system is nonlinear, time-varying, and delayed and includes a master-slave kinematic dissimilarity. To close the control loop, three + controllers are used under a position master/slave velocity strategy. The stability analysis is based on Lyapunov-Krasovskii theory where a functional is proposed and analyzed to get conditions for the control parameters that assure a stable behavior, keeping the synchronism errors bounded. Finally, the theoretical result is verified in practice by means of a simple test, where two human operators both collaboratively and simultaneously drive a 3D simulator of a mobile robot to achieve an established task on a remote shared environment.

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Section: Trilateral Teleoperation Of a Mobile Robotmentioning

confidence: 99%

“…Now, the control action m 1 from (7) is included in (20) and Relation 8 (6) is applied over the delayed terms: …”

Section: Theorem 9 Consider a Teleoperation System Wherein Two Humanmentioning

confidence: 99%

Section: Trilateral Teleoperation Of a Mobile Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Delayed Trilateral Teleoperation of a Mobile Robot

Santiago

Slawiñski

Mut

2017

Mathematical Problems in Engineering

Self Cite

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“…Nevertheless, the most important drawback of this methodology is the phenomenon of the propagation time-delay, amount of which can be huge. Moreover, the amount of time-delay can be affected from operational conditions and hence can be changed operation to operation [3][4][5][6][7]. Time-delay, which is almost an inevitable phenomenon for most of the physical systems, has generally adverse effects on the system performance [8].…”

Section: Introductionmentioning

confidence: 99%

Robust Stabilization of a Servomechanism With Respect To Time-Delay

Nesimioğlu

Yılmaz

Dincel³

2016

International Journal of Applied Mathematics, Electronics and Computers

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Abstract:In this paper, a servomechanism under teleoperation is considered. Since the teleoperation itself can result in large amount of time-delays and this amount can change operation to operation, it can be difficult to control such mechanisms in order to accomplish the desired tasks. From the robust control viewpoint, a methodology that guarantees the stability in worst case is essential. Based on a simple methodology to find the delay independent stabilizing proportional (P) controller regions, just by forming the magnitude polynomial and employing the root locus technique, the stability of the robot is guaranteed, even in the worst case: the system becomes stable even if the connection has huge amount of time-delays. This fact is evidenced first by the simulations. To simulate the real system, as there is no information about the motor parameters, the motor is modeled by a global optimization methodology, named Genetic Algorithm in order to obtain a valid model for the system as accurate as possible. Then the resulting P controllers are applied to the real system, the results of which are found in accordance with the simulation results; the stability of the operation is not affected by the time-delay.

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A Delta‐Parallel‐Inspired Human Machine Interface by Using Self‐Powered Triboelectric Nanogenerator Toward 3D and VR/AR Manipulations

Hou

Geng

Yang

et al. 2020

Adv Materials Technologies

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in diverse application fields, for example, entertainment, robotics, [3] virtual reality/ augmented reality (VR/AR), [4] smart factory, and so on. [5-7] Beyond that, HMI can even be extended to medical rehabilitation, [8] extreme environmental operation, [9] remote education, telemedicine, and other fields. [10,11] With the aid of technology advance, the effectiveness and intuitiveness of interaction are more demanding. The solutions of HMI are switching from the conventional control terminals, such as keyboard, touchpad, and joystick, toward more diversified and creative alternatives. As a result, many new interaction mechanisms have been developed to satisfy the need for efficient and intuitive interaction. [12] For instance, vision recognition can identify facial features and realize human motion capture to complete motion mapping. [13,14] Evolving together with the fast-growth of wearable electronics and IoT, modern HMI are developing toward self-powered capability [15-17] and flexible wearable compatibility. [12] Self-powered electronics are of increasing importance due to their environmentally friendly and self-sustainability, providing an possible solution in alleviating the global energy crisis and environmental pollution. [18-22] Many self-powered electronics have been developed by integrating different energy harvesting technologies, such as electromagnetic, [18-20] piezoelectric, [21,22] and triboelectric. [17,18,23-26]. Based on the coupling of triboelectrification and electrostatic induction, triboelectric nanogenerators (TENGs) have been demonstrated as promising candidates [27-33] for various selfpowered sensing or self-driven controlling [16,17,25] applications. For example, Luo reported a flexible and durable wood-based TENG for self-powered sensing in athletic big data analytics. [34] It can be used to smart sport monitoring and assisting. It also can be used to promote the development of big data analytics in intelligent sports industry. TENG-based self-powered technology provides a creative way to realize HMI [35,36] because of its superior advantages such as self-generated signals, high output sensitivity, simple but diverse configurations, low cost, various material applicability, and flexibility. [34,37,38] In the past few years, there have been many HMI prototypes reported by using triboelectric mechanisms. [16,25,31,35,39-41] In recent years, human-machine interface technology has entered a period of rapid development in the global scope. It has gradually expanded from the initial field of medical rehabilitation to engineering bionics, virtual reality, space technology, deep-sea assignments, atomic energy technology, remote education, and other areas. Herein, an innovative, self-powered delta-parallel human-machine interface (DT-HMI) for 3D sensing and control is proposed. By using three pairs of triboelectric nanogenerator (TENG) sensing gears based on both contact-separation and sliding modes of triboelectric effect, the positive and negative rotation of the gears and rotation angles ca...

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PD-like controller for delayed bilateral teleoperation of wheeled robots

Cited by 24 publications

References 24 publications

Delayed Trilateral Teleoperation of a Mobile Robot

Delayed Trilateral Teleoperation of a Mobile Robot

Robust Stabilization of a Servomechanism With Respect To Time-Delay

A Delta‐Parallel‐Inspired Human Machine Interface by Using Self‐Powered Triboelectric Nanogenerator Toward 3D and VR/AR Manipulations

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