Position and force tracking in nonlinear teleoperation systems under varying delays

Farzad Hashemzadeh; Mahdi Tavakoli

doi:10.1017/S026357471400068X

Position and force tracking in nonlinear teleoperation systems under varying delays

Farzad Hashemzadeh^*
, Mahdi Tavakoli

^*Bu çalışma için yazışmadan sorumlu yazar

University of Tabriz
University of Alberta

Araştırma sonucu: Dergiye katkı › Makale › bilirkişi

59 Atıf (Scopus)

Özet

In this paper, a novel control scheme is proposed to guarantee position and force tracking in nonlinear teleoperation systems subject to varying communication delays. Stability and tracking performance of the teleoperation system are proved using a proposed Lyapunov-Krasovskii functional. To show its effectiveness, the teleoperation controller is simulated on a pair of planar 2-DOF (degree of freedom) robots and experimented on a pair of 3-DOF PHANToM Premium 1.5A robots connected via a communication channel with time-varying delays. Both the planar robots in simulations and the PHANToM robots in experiments possess nonlinear dynamics.

Orijinal dil	İngilizce
Sayfa (başlangıç-bitiş)	1003-1016
Sayfa sayısı	14
Dergi	Robotica
Hacim	33
Basın numarası	4
DOI'lar	https://doi.org/10.1017/S026357471400068X
Yayın durumu	Yayınlandı - 30 May 2015
Harici olarak yayınlandı	Evet

Bibliyografik not

Publisher Copyright:
© 2014 Cambridge University Press.

Belgeye Erişim

10.1017/S026357471400068X

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Link to publication in Scopus

Alıntı Yap

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title = "Position and force tracking in nonlinear teleoperation systems under varying delays",

abstract = "In this paper, a novel control scheme is proposed to guarantee position and force tracking in nonlinear teleoperation systems subject to varying communication delays. Stability and tracking performance of the teleoperation system are proved using a proposed Lyapunov-Krasovskii functional. To show its effectiveness, the teleoperation controller is simulated on a pair of planar 2-DOF (degree of freedom) robots and experimented on a pair of 3-DOF PHANToM Premium 1.5A robots connected via a communication channel with time-varying delays. Both the planar robots in simulations and the PHANToM robots in experiments possess nonlinear dynamics.",

keywords = "Force and position tracking, Lyapunov-Krasovskii functional, Nonlinear teleoperation, Time-varying time delay",

author = "Farzad Hashemzadeh and Mahdi Tavakoli",

note = "Publisher Copyright: {\textcopyright} 2014 Cambridge University Press.",

year = "2015",

month = may,

day = "30",

doi = "10.1017/S026357471400068X",

language = "English",

volume = "33",

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journal = "Robotica",

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TY - JOUR

T1 - Position and force tracking in nonlinear teleoperation systems under varying delays

AU - Hashemzadeh, Farzad

AU - Tavakoli, Mahdi

PY - 2015/5/30

Y1 - 2015/5/30

N2 - In this paper, a novel control scheme is proposed to guarantee position and force tracking in nonlinear teleoperation systems subject to varying communication delays. Stability and tracking performance of the teleoperation system are proved using a proposed Lyapunov-Krasovskii functional. To show its effectiveness, the teleoperation controller is simulated on a pair of planar 2-DOF (degree of freedom) robots and experimented on a pair of 3-DOF PHANToM Premium 1.5A robots connected via a communication channel with time-varying delays. Both the planar robots in simulations and the PHANToM robots in experiments possess nonlinear dynamics.

AB - In this paper, a novel control scheme is proposed to guarantee position and force tracking in nonlinear teleoperation systems subject to varying communication delays. Stability and tracking performance of the teleoperation system are proved using a proposed Lyapunov-Krasovskii functional. To show its effectiveness, the teleoperation controller is simulated on a pair of planar 2-DOF (degree of freedom) robots and experimented on a pair of 3-DOF PHANToM Premium 1.5A robots connected via a communication channel with time-varying delays. Both the planar robots in simulations and the PHANToM robots in experiments possess nonlinear dynamics.

KW - Force and position tracking

KW - Lyapunov-Krasovskii functional

KW - Nonlinear teleoperation

KW - Time-varying time delay

UR - https://www.scopus.com/pages/publications/84929131704

U2 - 10.1017/S026357471400068X

DO - 10.1017/S026357471400068X

M3 - Article

AN - SCOPUS:84929131704

SN - 0263-5747

VL - 33

SP - 1003

EP - 1016

JO - Robotica

JF - Robotica

IS - 4

ER -

Position and force tracking in nonlinear teleoperation systems under varying delays

Özet

Bibliyografik not

Belgeye Erişim

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