NONLINEAR DISTURBANCE OBSERVER BASED IMPEDANCE CONTROL FOR A TELEOPERATION SYSTEM UNDER TIME DELAY

被引：0
|
作者：
Esfahani, A. Monemian [1 ]
Rezaei, S. M. [1 ]
Zareinejad, M. [1 ]
机构：
[1] Amirkabir Univ Technol, Dept Mech Engn, Tehran, Iran
来源：
IMECE 2009: PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, VOL 10, PTS A AND B | 2010年
关键词：
teleoperation; friction; nonlinear disturbance observer; SLIDING MODE CONTROL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper a nonlinear disturbance observer (NDO) based impedance control is proposed for a teleoperation system. The unknown friction and uncertainties will be estimated by the observer and added to the control input for compensation. Although friction will improve the stability, it worsens the transparency of the system which is another major point in teleoperation systems. The stability of the system is guaranteed by Lyapunov stability criterion and selecting the best design parameters. Tracking of force/position is achieved by these parameters. Also a fixed time delay is added to the system because of delays in the cables and other sources, it is then compensated with the designed controller. Performance of the proposed control is validated by experimental results.
引用
收藏
页码：515 / 521
页数：7
相关论文
共 50 条
  • [31] Tracking and disturbance rejection in a nonlinear control system with time delay
    Chien, Ting-Li
    Chen, Chung-Cheng
    Wu, Chia-Ju
    Huang, Yi-Chieh
    Chen, Chih-Yuann
    CONTROL AND CYBERNETICS, 2007, 36 (01): : 59 - 74
  • [32] Nonlinear control for teleoperation systems with time varying delay
    S. Islam
    P. X. Liu
    A. El Saddik
    Nonlinear Dynamics, 2014, 76 : 931 - 954
  • [33] Nonlinear control for teleoperation systems with time varying delay
    Islam, S.
    Liu, P. X.
    El Saddik, A.
    NONLINEAR DYNAMICS, 2014, 76 (02) : 931 - 954
  • [34] DISTURBANCE OBSERVER BASED POSITION CONTROL OF A ONE-LINK MANIPULATOR UNDER INPUT TIME DELAY
    Son, Young Ik
    Jeong, Goo Jong
    Kim, In Hyuk
    INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL, 2012, 8 (02): : 1371 - 1384
  • [35] A design of disturbance observer in frequency domain for robust control of time delay system
    Kim, Jong-Ryong
    Yun, Jong-Nam
    INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2022, 36 (10) : 2620 - 2639
  • [36] Sliding Mode Control for a Surgical Teleoperation System via a Disturbance Observer
    Hao, Shuang
    Hu, Lingyan
    Liu, Peter X.
    IEEE ACCESS, 2019, 7 : 43383 - 43393
  • [37] Disturbance Observer-Based Global Sliding Mode Control for Uncertain Time-Delay Nonlinear Systems
    Pai, Ming-Chang
    IETE JOURNAL OF RESEARCH, 2022, 68 (05) : 3331 - 3340
  • [38] Modified Disturbance Observer based Control for Periodic Disturbance Rejection in Time-delay Process
    Jin, Qibing
    Jia, Buyi
    PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 6342 - 6347
  • [39] Teleoperation System Control Based on The Method for Supervisory Control With Variable Time Delay
    Hodzic, First A.
    Mujcic, Second E.
    2015 23RD TELECOMMUNICATIONS FORUM TELFOR (TELFOR), 2015, : 345 - 348
  • [40] Disturbance-Observer-Based Sliding Mode Control Design for Nonlinear Bilateral Teleoperation System With Four-Channel Architecture
    Tang, Jianzhong
    Huang, Fanghao
    Chen, Zheng
    Wang, Tao
    Gu, Jason
    Zhu, Shiqiang
    IEEE ACCESS, 2019, 7 : 72672 - 72683
12345