TY - GEN
T1 - Haptic teleoperation under variable delay and actuator saturation
AU - Hashemzadeh, F.
AU - Tavakoli, M.
AU - Hassanzadeh, I.
PY - 2013
Y1 - 2013
N2 - In this paper, a novel control scheme is proposed to guarantee global asymptotic stability of bilateral teleoperation systems that are subject to time-varying time delays in their communication channel and 'sandwich linearity' in their actuators. This extends prior art concerning control of nonlinear bilateral teleoperation systems under time-varying time delays to the case where the local and the remote robots' control signals pass through saturation or similar nonlinearities that belong to a class of systems we name sandwich linear systems. We call the proposed method nonlinear proportional plus damping (nP+ D). The asymptotic stability of the closed-loop system is established using a Lyapunov-Krasovskii functional under conditions on the controller parameters, the actuator saturation characteristics, and the maximum values of the time-varying time delays. The controller is experimentally validated on a pair of 3-DOF PHANToM Premium 1.5A robots, which have limited actuation capacity, that form a teleoperation system with a varying-delay communication channel.
AB - In this paper, a novel control scheme is proposed to guarantee global asymptotic stability of bilateral teleoperation systems that are subject to time-varying time delays in their communication channel and 'sandwich linearity' in their actuators. This extends prior art concerning control of nonlinear bilateral teleoperation systems under time-varying time delays to the case where the local and the remote robots' control signals pass through saturation or similar nonlinearities that belong to a class of systems we name sandwich linear systems. We call the proposed method nonlinear proportional plus damping (nP+ D). The asymptotic stability of the closed-loop system is established using a Lyapunov-Krasovskii functional under conditions on the controller parameters, the actuator saturation characteristics, and the maximum values of the time-varying time delays. The controller is experimentally validated on a pair of 3-DOF PHANToM Premium 1.5A robots, which have limited actuation capacity, that form a teleoperation system with a varying-delay communication channel.
KW - Nonlinear teleoperation
KW - actuator saturation
KW - asymptotic stability
KW - sandwich linearity
KW - varying time delay
UR - https://www.scopus.com/pages/publications/84881466269
U2 - 10.1109/WHC.2013.6548438
DO - 10.1109/WHC.2013.6548438
M3 - Conference contribution
AN - SCOPUS:84881466269
SN - 9781479900886
T3 - 2013 World Haptics Conference, WHC 2013
SP - 377
EP - 382
BT - 2013 World Haptics Conference, WHC 2013
T2 - 2013 IEEE World Haptics Conference, WHC 2013
Y2 - 14 April 2013 through 17 April 2013
ER -