Position synchronization for an uncertain teleoperation system with time delays using L1 theory

Abstract

The problem of position tracking in teleoperation systems equipped with latencies and dynamical uncertainties was addressed in this study. In many applications, such as telesurgery, safe interaction with the external environment is a factor that may undermine the synchronization of the positions. In the case of nondestructive contact with the environment, in addition to an errorless steady-state position tracking, the closedloop system requires a response with the least possible overshoot. To this end, a statefeedback controller based upon L 1 theory was proposed in this paper. The compensator was synthesized using Linear Matrix Inequality (LMI) technology, and the asymptotic stability of the system was veri ed through Lyapunov-Krasovskii functional. Considered its advantage, the proposed control scheme is robust to asymmetric randomly varying time delays in the communication channels. The L 1 -based controller was nally compared to the well-known sliding mode controller through simulation, and it proved to outperform its counterpart from the maximum error point of view while preserving low steady-state error. The proposed controller was also proved to be e ective even in the presence of model uncertainties.

Simple recognition of hand gestures using single-channel EMG signals

“…We suggest looking at more features, classification techniques, and gesture types in future research. Furthermore, control techniques could be greatly simplified by utilizing gesture recognition in teleoperation systems, 40,41 which are frequently employed for remote control. Finally, due to the different number of participants for male and female subjects in this study, it can be seen and investigated under the gender imbalance problem which we consider it as a future direction of this study.…”