Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

被引：15

作者：

Sun, Da ^{[1
]}

Naghdy, Fazel ^{[2
]}

Du, Haiping ^{[2
]}

机构：

[1] Natl Univ Singapore, Singapore, Singapore

[2] Univ Wollongong, Wollongong, NSW, Australia

来源：

NONLINEAR DYNAMICS | 2017年 / 87卷 / 02期

关键词：

Bilateral teleoperation; Prescribed performance control (PPC) time domain passivity approach (TDPA); Wave variable; Passivity; Time-varying delay; TRACKING CONTROL; TELEOPERATION; SYNCHRONIZATION; STABILITY;

D O I：

10.1007/s11071-016-3113-6

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A novel approach applying the extended prescribed performance control (PPC) and the wave-based time domain passivity approach (wave-based TDPA) to teleoperation systems is proposed. With the extended PPC, a teleoperation system can synchronize position, velocity and force. Moreover, by combining with the extended wave-based TDPA, the overall system's passivity is guaranteed in the presence of arbitrary time delays. The system's stability and performance are analyzed by using Lyapunov functions. The method is validated through experimental work based on a 3-DOF bilateral teleoperation system. The experimental results show that the proposed control algorithm can robustly guarantee the master-slave system's passivity and simultaneously provide high tracking performance of position, velocity and measured force signals.

引用

页码：1253 / 1270

页数：18

共 50 条

[1] Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance
Da Sun
Fazel Naghdy
Haiping Du
Nonlinear Dynamics, 2017, 87 : 1253 - 1270
[2] Improving perception in time-delayed telerobotics
Tanner, NA
Niemeyer, G
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2005, 24 (08) : 631 - 644
[3] Experimental comparison of backdrivability for time-delayed telerobotics
Li, Hongbing
Kawashima, Kenji
CONTROL ENGINEERING PRACTICE, 2014, 28 : 90 - 96
[4] Performance Comparison of Wave Variable Transformation and Time Domain Passivity Approaches for Time-Delayed Teleoperation: Preliminary Results
Balachandran, Ribin
Artigas, Jordi
Mehmood, Usman
Ryu, Jee-Hwan
2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016), 2016, : 410 - 417
[5] A Time Domain Passivity Control Scheme for Bilateral Teleoperation
Sheng, Long
Ahmad, Usman
Ye, Yongqiang
Pan, Ya-Jun
ELECTRONICS, 2019, 8 (03):
[6] Passivity of Time-Delayed Whole-Body Operational Space Control with Series Elastic Actuation
Zhao, Ye
Sentis, Luis
2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 2016, : 1290 - 1297
[7] Bilateral teleoperation with delayed force feedback using time domain passivity controller
Li, Hongbing
Kawashima, Kenji
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2016, 37 : 188 - 196
[8] Transparent time-delayed bilateral teleoperation using wave variables
Aziminejad, A.
Tavakoli, M.
Patel, R. V.
Moallem, M.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2008, 16 (03) : 548 - 555
[9] Distributed control and passivity-based stability analysis for time-delayed DC microgrids
Chen, Yongpan
Zhao, Jinghan
Wan, Keting
Yu, Miao
IET GENERATION TRANSMISSION & DISTRIBUTION, 2024, 18 (20) : 3187 - 3199
[10] Prescribed performance synchronization for time-delayed complex dynamical networks under event-triggered pinning control
Dong, Bolei
Shi, Yujing
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2021, 31 (18) : 8989 - 9007

← 1 2 3 4 5 →