Robust Adaptive Control Scheme for Teleoperation Systems With Delay and Uncertainties

Kebria, Parham M.; Khosravi, Abbas; Nahavandi, Saeid; Shi, Peng; Alizadehsani, Roohallah

doi:10.1109/tcyb.2019.2891656

Cited by 84 publications

(47 citation statements)

References 37 publications

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“…Velocities v x v y v θ are mapped into the velocities ẋẏθ of the world frame using the transformation (15).…”

Section: Omnidirectional Mobile Robot Kinematicsmentioning

confidence: 99%

“…Among these techniques, adaptive neural PID controllers are presented as an option due to neural networks characteristic that allows them to adapt themselves to changes in operating conditions and environmental parameters, giving the controller the capability of adapting its parameters online [5][6][7]. Adaptive control techniques are important to solve problems in robotics research, such as control of robot manipulators [8,9], control of mobile robots [10,11] and formation control [12], control of underwater vehicles [13,14], control for teleoperation systems [15] and industrial applications [16,17].…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Single Neuron Anti-Windup PID Controller Based on the Extended Kalman Filter Algorithm

et al. 2020

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In this paper, an adaptive single neuron Proportional–Integral–Derivative (PID) controller based on the extended Kalman filter (EKF) training algorithm is proposed. The use of EKF training allows online training with faster learning and convergence speeds than backpropagation training method. Moreover, the propose adaptive PID approach includes a back-calculation anti-windup scheme to deal with windup effects, which is a common problem in PID controllers. The performance of the proposed approach is shown by presenting both simulation and experimental tests, giving results that are comparable to similar and more complex implementations. Tests are performed for a four wheeled omnidirectional mobile robot. Tests show the superiority of the proposed adaptive PID controller over the conventional PID and other adaptive neural PID approaches. Experimental tests are performed on a KUKA® Youbot® omnidirectional platform.

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“…Velocities v x v y v θ are mapped into the velocities ẋẏθ of the world frame using the transformation (15).…”

Section: Omnidirectional Mobile Robot Kinematicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive Single Neuron Anti-Windup PID Controller Based on the Extended Kalman Filter Algorithm

et al. 2020

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“…The data communication is realized through the Ethernet Adapter/USB port and it allows real-time programming through class ToolKit 3D Touch to work with Visual Studio 2017 [27]. The problem of solving for the relationship between the joint coordinates θ(t)= [θ1(t), θ2(t), θ3(t)] T , θ3(t)]T and position of the end-effector M(t) can be summarized as the inverse kinematics [28], [29]. The inverse position kinematics model (IPKM) is used to obtain the joint coordinates θ(t) as the function of the operational position of M(t), which is expressed as follows:…”

Section: E Robotic Arm Plantmentioning

confidence: 99%

A Biologically Constrained Cerebellar Model With Reinforcement Learning for Robotic Limb Control

et al. 2020

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“…In [ 6 ], the instability, caused by time delays, had been conquered with a new passivity and scattering theory. In [ 7 ], a robust adaptive control algorithm is developed to deal with the system’s uncertainties and to provide a smooth estimation of delayed reference signals. In [ 8 ], Baranitha tackled the time-varying delay problem for a single-master multi-slave teleoperation system by assuming an asymmetric and semi-Markovian jump protocol for communication of the slaves with the master.…”

Section: Introductionmentioning

confidence: 99%

Discrete Sliding Mode Control Design for Bilateral Teleoperation System via Adaptive Extended State Observer

Yan

Yang

Liu

2020

Sensors

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The goal of this paper is to improve the synchronization control performance of nonlinear teleoperation systems with system uncertainties in the presence of time delays. In view of the nonlinear discrete states of the teleoperation system in packet-switched communication networks, a new discrete sliding mode control (DSMC) strategy is performed via a new reaching law in task space. The new reaching law is designed to reduce the chattering and improve control performance. Moreover, an adaptive extended state observer (AESO) is used to estimate the total system disturbances. The additional gain of AESO is adjusted in time to decrease the estimation errors of both system states and disturbances automatically and improve the estimation performances of the AESO. Finally, the validity of the designed control strategy is demonstrated by both simulation and experiments. Furthermore, the experimental comparison results indicate that the improvement is achievable with the proposed AESO and DSMC.

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Robust Adaptive Control Scheme for Teleoperation Systems With Delay and Uncertainties

Cited by 84 publications

References 37 publications

Adaptive Single Neuron Anti-Windup PID Controller Based on the Extended Kalman Filter Algorithm

Adaptive Single Neuron Anti-Windup PID Controller Based on the Extended Kalman Filter Algorithm

A Biologically Constrained Cerebellar Model With Reinforcement Learning for Robotic Limb Control

Discrete Sliding Mode Control Design for Bilateral Teleoperation System via Adaptive Extended State Observer

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