Controlled Synchronization of Nonlinear Teleoperation in Task-space with Time-varying Delays

Amir Zakerimanesh; Farzad Hashemzadeh; Ali Torabi; Mahdi Tavakoli

doi:10.1007/s12555-018-0120-z

Controlled Synchronization of Nonlinear Teleoperation in Task-space with Time-varying Delays

Amir Zakerimanesh
, Farzad Hashemzadeh^*
, Ali Torabi
, Mahdi Tavakoli

^*Corresponding author for this work

University of Tabriz
University of Alberta

Research output: Contribution to journal › Article › peer-review

13 Citations (Scopus)

Abstract

This paper introduces a novel control framework for bilateral teleoperation system with the redundant remote robot to ensure the end-effectors’ position tracking while satisfying a sub-task control such as obstacle avoidance in the presence of the nonlinear dynamics for the manipulators and bounded time-varying delays in the communication channels. The asymptotic stability of the closed-loop dynamics is studied using a Lyapunov-Krasovskii functional under conditions on the controller parameters and the maximum values of time-varying delays. Simulation and experimental results are provided to validate the theoretical findings.

Original language	English
Pages (from-to)	1875-1883
Number of pages	9
Journal	International Journal of Control, Automation and Systems
Volume	17
Issue number	8
DOIs	https://doi.org/10.1007/s12555-018-0120-z
Publication status	Published - 1 Aug 2019
Externally published	Yes

Bibliographical note

Publisher Copyright:
© 2019, ICROS, KIEE and Springer.

Keywords

Asymptotic stability
redundant robot
semi-autonomous system
synchronization
time-varying delay

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10.1007/s12555-018-0120-z

Cite this

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AU - Zakerimanesh, Amir

AU - Hashemzadeh, Farzad

AU - Torabi, Ali

AU - Tavakoli, Mahdi

PY - 2019/8/1

Y1 - 2019/8/1

N2 - This paper introduces a novel control framework for bilateral teleoperation system with the redundant remote robot to ensure the end-effectors’ position tracking while satisfying a sub-task control such as obstacle avoidance in the presence of the nonlinear dynamics for the manipulators and bounded time-varying delays in the communication channels. The asymptotic stability of the closed-loop dynamics is studied using a Lyapunov-Krasovskii functional under conditions on the controller parameters and the maximum values of time-varying delays. Simulation and experimental results are provided to validate the theoretical findings.

AB - This paper introduces a novel control framework for bilateral teleoperation system with the redundant remote robot to ensure the end-effectors’ position tracking while satisfying a sub-task control such as obstacle avoidance in the presence of the nonlinear dynamics for the manipulators and bounded time-varying delays in the communication channels. The asymptotic stability of the closed-loop dynamics is studied using a Lyapunov-Krasovskii functional under conditions on the controller parameters and the maximum values of time-varying delays. Simulation and experimental results are provided to validate the theoretical findings.

KW - Asymptotic stability

KW - redundant robot

KW - semi-autonomous system

KW - synchronization

KW - time-varying delay

UR - https://www.scopus.com/pages/publications/85069911232

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JO - International Journal of Control, Automation and Systems

JF - International Journal of Control, Automation and Systems

IS - 8

ER -

Controlled Synchronization of Nonlinear Teleoperation in Task-space with Time-varying Delays

Abstract

Bibliographical note

Keywords

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