Stability and tracking properties in predictive control with adaptation for bilateral teleoperation

In recent years, teleoperation has shown great potentials in different fields such as spatial, mining, under-water, etc. When teleoperation is required to be bilateral, the time delay induced by a potentially large physical distance prevents a good performance of the controller, especially in case of contact.When bilateral teleoperation is introduced to the field of medicine, a new challenge arises: the controller needs to be used in both hard and soft environments. For example, in the context of telesurgery, the robot can enter in contact with both bone (hard) and organ (soft).In an attempt to enrich existing controller designs to better suit the medical needs, an adaptive fuzzy logic controller is designed in this text. It simulates human intelligence and adapts the controller to environments of different stiffness coefficients. It is compared to three other classical controllers used in the field of bilateral teleopeartion and demonstrates very interesting potential.ii Acknowledgements First and foremost I'd like to thank God for guiding me into and through this adventure. I have learned much during thesis time.With all my heart, I want to thank my parents for their continuous and unchanging love, care and support.To my dear church family and friends, thank you so much for your prayers, suggestions and encouragements throughout this time! Thank you also for constantly reminding me that thesis is not and should not be the centre of my life.Many thanks to my classmates as well, old and new, for the fun times we had together during my master's degree.I would also like to thank my supervisor Dr. Gueaieb for his support, guidance and help.iii

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“…For example, to predict the states of the master robot [3], the human input [83], or environment only [102].…”

Section: Predicting Other Parts Of the Systemmentioning

confidence: 99%

Adaptive Fuzzy Logic Control for Time-Delayed Bilateral Teleoperation

Zhu

Gueaieb

2012

Autonomous and Intelligent Systems

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“…More recently in 2009, Yoshida and Namerikawa proposed another predictive control scheme in [22] and tried to solve the issues in the previous control schemes. Their idea is based on a 3 channel architecture where the delayed position and velocity information of the master are sent to the slave side, and the estimated environment parameters are sent back to the master for the predictor.…”

Section: Prediction Based Schemesmentioning

confidence: 99%

Trends in the Control Schemes for Bilateral Teleoperation with Time Delay

Zhu

Gueaieb

2011

Lecture Notes in Computer Science

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Abstract. In the last two decades, an increasing interest has been observed in the development of effective bilateral teleoperation systems. One of the biggest challenges encountered however is the presence of time delay, which can cause instability and poor transparency to the system. Researchers have been trying to tackle this problem from different angles and various control schemes have been proposed and tested. This paper aims to do an overview of those schemes and to compare them based on their assessment in order to give new researchers a summary of the current state of art. The schemes are divided into four main categories: passivity based, prediction based, sliding-mode control schemes and others. The comparison is based on transparency level, stability requirement, delay type, and delay range.

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