Trajectory tracking control for a tele-operation setup with disturbance estimation and compensation

Lichiardopol, Stefan; Wouw, Nathan van de; Kostic, D Dragan; Nijmeijer, Henk

doi:10.1109/cdc.2010.5718090

Cited by 14 publications

(8 citation statements)

References 13 publications

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“…If these are not measured or there is uncertainty in such measurements, then these forces can be treated as disturbances and Input-to-State Stability can be concluded. Similar to the work reported in [30].…”

Section: Remarksupporting

confidence: 82%

“…This modification does not alter the properties of the observer neither the r dynamics, and, in fact, as it is shown in this section, it is used to dominate the cross‐terms appearing from the observer–plant–controller interconnection. Remark From and the observer dynamics , it should be noted that, for the observer implementation, the human operator and the environment forces have to be measurable. If these are not measured or there is uncertainty in such measurements, then these forces can be treated as disturbances, and input‐to‐state stability can be concluded, similar to the work reported in .…”

Section: Position Tracking For Teleoperators Without Velocity Measurementioning

confidence: 69%

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Position tracking in delayed bilateral teleoperators without velocity measurements

Sarras

Nuño

Basañez

et al. 2015

Int. J. Robust. Nonlinear Control

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SUMMARYThis work considers the control of nonlinear bilateral teleoperators with variable time-delays without the need of velocity measurements. The recently proposed Immersion and Invariance (I&I) observer is used to obtain an exponentially convergent estimate of the unmeasured velocities. Under the classical assumption that the human operator and the environment define passive, velocity to force, maps it is proved that with this observer together with a Proportional plus damping (P+d) controller, velocities and position error are globally bounded. Finally, in the case that the human operator and the environment do not exert forces on the local and remote manipulators, respectively, global asymptotic convergence of velocities and of position error to zero is achieved. The theoretical results are sustained with simulations using a couple of two degreesof-freedom nonlinear manipulators.

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Section: Remarksupporting

confidence: 82%

Section: Position Tracking For Teleoperators Without Velocity Measurementioning

confidence: 69%

Position tracking in delayed bilateral teleoperators without velocity measurements

Sarras

Nuño

Basañez

et al. 2015

Int. J. Robust. Nonlinear Control

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show abstract

“…It could be concluded that the force estimation algorithm is globally asymptomatically stable [22]. This proposed force algorithm is very popular and has also been used in several previous studies [23][24][25][26]. The mentioned force estimation stability is derived for open-loop operation.…”

Section: Force Estimation Algorithmmentioning

confidence: 96%

Transparency Improvement by External Force Estimation in a Time-Delayed Nonlinear Bilateral Teleoperation System

Amini

Rezaei

Sarhan

et al. 2015

Journal of Dynamic Systems, Measurement, and Control

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Teleoperation systems have been developed in order to manipulate objects in environments where the presence of humans is impossible, dangerous or less effective. One of the most attractive applications is micro telemanipulation with micropositioning actuators. Due to the sensitivity of this operation, task performance should be accurately considered. The presence of force signals in the control scheme could effectively improve transparency. However, the main restriction is force measurement in micromanipulation scales. A new modified strategy for estimating the external forces acting on the master and slave robots is the major contribution of this paper. The main advantage of this strategy is that the necessity for force sensors is eliminated, leading to lower cost and further applicability. A novel control algorithm with estimated force signals is proposed for a general nonlinear macro–micro bilateral teleoperation system with time delay. The stability condition in the macro–micro teleoperation system with the new control algorithm is verified by means of Lyapunov stability analysis. The designed control algorithm guarantees stability of the macro–micro teleoperation system in the presence of an estimated operator and environmental force. Experimental results confirm the efficiency of the novel control algorithm in position tracking and force reflection.

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“…Non‐linear DOB design approaches available in literature have been used in applications such as robotic manipulators [7, 9, 11–15], missile systems [16], magnetic bearing systems [17], permanent magnet synchronous motors [18], flight control systems [19], small‐scale helicopters [20], reusable launch vehicles [21] and so on. DOBs can not only be used to estimate externally applied disturbance but can also estimate load and friction.…”

Section: Introductionmentioning

confidence: 99%

Designing disturbance observer for non‐linear systems – a Hirschorn inverse approach

Dasgupta

Sadhu

Ghoshal

2017

IET Science, Measurement & Technology

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Trajectory tracking control for a tele-operation setup with disturbance estimation and compensation

Cited by 14 publications

References 13 publications

Position tracking in delayed bilateral teleoperators without velocity measurements

Position tracking in delayed bilateral teleoperators without velocity measurements

Transparency Improvement by External Force Estimation in a Time-Delayed Nonlinear Bilateral Teleoperation System

Designing disturbance observer for non‐linear systems – a Hirschorn inverse approach

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