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

^*Bu çalışma için yazışmadan sorumlu yazar

Araştırma sonucu: ???type-name??? › Makale › bilirkişi

11 Atıf (Scopus)

Özet

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.

Orijinal dil	İngilizce
Sayfa (başlangıç-bitiş)	1875-1883
Sayfa sayısı	9
Dergi	International Journal of Control, Automation and Systems
Hacim	17
Basın numarası	8
DOI'lar	https://doi.org/10.1007/s12555-018-0120-z
Yayın durumu	Yayınlandı - 1 Ağu 2019
Harici olarak yayınlandı	Evet

Bibliyografik not

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

Belgeye Erişim

10.1007/s12555-018-0120-z

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

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title = "Controlled Synchronization of Nonlinear Teleoperation in Task-space with Time-varying Delays",

abstract = "This paper introduces a novel control framework for bilateral teleoperation system with the redundant remote robot to ensure the end-effectors{\textquoteright} 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.",

keywords = "Asymptotic stability, redundant robot, semi-autonomous system, synchronization, time-varying delay",

author = "Amir Zakerimanesh and Farzad Hashemzadeh and Ali Torabi and Mahdi Tavakoli",

note = "Publisher Copyright: {\textcopyright} 2019, ICROS, KIEE and Springer.",

year = "2019",

month = aug,

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doi = "10.1007/s12555-018-0120-z",

language = "English",

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TY - JOUR

T1 - Controlled Synchronization of Nonlinear Teleoperation in Task-space with Time-varying Delays

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 - http://www.scopus.com/inward/record.url?scp=85069911232&partnerID=8YFLogxK

U2 - 10.1007/s12555-018-0120-z

DO - 10.1007/s12555-018-0120-z

M3 - Article

AN - SCOPUS:85069911232

SN - 1598-6446

VL - 17

SP - 1875

EP - 1883

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

Özet

Bibliyografik not

Belgeye Erişim

Diğer Dosyalar ve Linkler

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