Wave-Variable-Based Passivity Control of Four-Channel Nonlinear Bilateral Teleoperation System Under Time Delays

被引：65
作者：
Sun, Da [1 ]
Naghdy, Fazel [2 ]
Du, Haiping [2 ]
机构：
[1] Univ Wollongong, Wollongong, NSW 2500, Australia
[2] Univ Wollongong, Sch Elect Comp & Telecommun Engn, Wollongong, NSW 2500, Australia
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2016年 / 21卷 / 01期
关键词：
Bilateral communication; nonlinear teleoperation; time-delay power network (TDPN); time-domain passivity approach (TDPA); time-varying delay; wave variable; TRACKING; SYNCHRONIZATION; TRANSPARENCY; STABILITY;
D O I：
10.1109/TMECH.2015.2442586
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An innovative wave-based time-domain passivity approach applied to a four-channel nonlinear teleoperation system is proposed. The primary objective of this approach is to enhance system transparency while maintaining stability in the presence of random time delays. The system stability for different scenarios of human and environment condition is analyzed. 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 system stability, and simultaneously provide better performance than methods developed in previous work.
引用
收藏
页码：238 / 253
页数：16
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