Performance analysis in delayed nonlinear bilateral teleoperation systems by force estimation algorithm

Azimifar, Farhad; Hassani, Kamran; Saveh, Amir Hossein; Ghomshe, Farhad Tabatabai

doi:10.1177/0142331216688751

Cited by 5 publications

(2 citation statements)

References 27 publications

(32 reference statements)

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“…where Υ = 2( 1 − 3 2 ℎ 2 − 4 2 ) Based on (26), the term − ∑ 2 is always non-positive. Therefore, by setting 1 ≥ 3 2 ℎ 2 + 4 2 , ̇2 can be guaranteed to be negative, and belongs to 2 space that makes the force/torque tracking errors fast converge to zero in the finite time.…”

Section: Theoremmentioning

confidence: 99%

Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic

Sun

Liao

et al. 2019

IEEE Trans. Cybern.

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This paper develops an innovative multilateral teleoperation system with two haptic devices on the master side and a newly designed reconfigurable multi-fingered robot on the slave side. A novel nonsingular fast terminal sliding-mode algorithm, together with varying dominance factors for cooperation, is proposed to offer this system's fast position and force tracking, as well as an integrated perception for the operator on the reconfigurable slave robot (manipulator). The Type-2 fuzzy model is used to describe the overall system dynamics, and accordingly a new fuzzy-model-based state observer is proposed to compensate for system uncertainties. A sliding-mode adaptive controller is designed to deal with the varying zero drift of the force sensors and force observers. The stability of the closed-loop system under time-varying delays is proved using Lyapunov-Krasovskii functions. Finally, experiments to grasp different objects are performed to verify the effectiveness of this multilateral teleoperation system.

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Section: Theoremmentioning

confidence: 99%

Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic

Sun

Liao

et al. 2019

IEEE Trans. Cybern.

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“…In Azimifar et al (2018), the authors designed a force observer based on accurate system model and parameter information of the teleoperation system. By measuring the acceleration signal, a force observer was designed in Mohammadi et al (2013), and the usage of the acceleration signal will increase the noise of the system.…”

Section: Introductionmentioning

confidence: 99%

New delay-dependent position/force hybrid controller design for uncertain telerobotics without force sensors

Yang

et al. 2023

Transactions of the Institute of Measurement and Control

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In this article, a new position/force hybrid control strategy is proposed for a class of uncertain bilateral telerobotics systems under time-varying communication delays. This control approach features the capability of removing the use of force sensors and relaxing the assumption on external forces. Specially, the proposed terminal sliding mode (TSM)-based force observer can estimate human force and environment force in a fixed time by applying a variable exponent coefficient, which effectively avoids the temporal problems of other existing force observers. By embedding the estimated force information, corresponding position/force hybrid controller is designed to ensure transparency and stability of system, which can be evaluated by the position synchronization in the slave and the force repeated in the master. Furthermore, by selecting Lyapunov–Krasovskii functional, it proves the stability of the bilateral telerobotics system under particular linear matrix inequality (LMI) conditions. The proposed stability criterion can serve to calculate the maximum allowable transmission delay with the given controller parameters; thus, the conservativeness is reduced. Finally, simulation comparison results and experimental results demonstrate the superior performance of the proposed position/force hybrid controller under different external forces.

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Position and Force Control of Bilateral Teleoperation Systems With Time-varying Delays Based on Force Estimation

Wu,

Liu,

Yang

2024

Int. J. Control Autom. Syst.

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Performance analysis in delayed nonlinear bilateral teleoperation systems by force estimation algorithm

Cited by 5 publications

References 27 publications

Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic

Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic

New delay-dependent position/force hybrid controller design for uncertain telerobotics without force sensors

Position and Force Control of Bilateral Teleoperation Systems With Time-varying Delays Based on Force Estimation

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