NDLI: Impedance control of non-linear multi-DOF teleoperation systems with time delay: absolute stability

Content Provider	IET Digital Library
Author	Sharifi, Mojtaba Salarieh, Hassan Behzadipour, Saeed Tavakoli, Mahdi
Abstract	A non-linear robust adaptive bilateral impedance controller is proposed to provide the absolute stability of multi-DOF teleoperation systems with communication delays, in addition to the force and position tracking performance. The proposed controller realises two desired (or reference) impedance models for the master and slave robots using a new non-linear robust version of the model reference adaptive control scheme. Using the absolute stability criterion, the robustness condition of the teleoperation system against communication delays is obtained, resulting in suitable adjustments of parameter values in the desired impedance models. In addition, using the Lyapunov stability theorem, the tracking performance of the master and slave robots and the robustness of the proposed controller against parametric and bounded unstructured modelling (non-parametric) uncertainties were proven. The performance of the proposed non-linear bilateral controller is investigated by performing some experiments on non-linear multi-degree-of-freedom (DOF) telerobots with and without communication delays.
Starting Page	1722
Ending Page	1729
Page Count	8
ISSN	17518644
Volume Number	12
e-ISSN	17518652
Issue Number	Issue 12, Aug (2018)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/12/12
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2017.1253
Journal	IET Control Theory & Applications
Publisher Date	2018-04-06
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Absolute Stability Absolute Stability Criterion Adaptive Control Communication Delay Control Scheme Control System Synthesis Delay Desired Impedance Model Force Impedance Control Lyapunov Method Lyapunov Stability Theorem Master Model Reference Model Reference Adaptive Control System Neurocontrollers Nonlinear Bilateral Controller Nonlinear Control System Nonlinear Multi Nonlinear Robust Adaptive Bilateral Impedance Controller Nonlinear Robust Version Nonparametric Position Control Position Tracking Performance Robust Control Robustness Condition Self Adjusting Control System Slave Robots Stability Stability in Control Theory Teleoperation System Telerobotics Time Delay Unstructured Modelling
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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An adaptive controller for bilateral teleoperation under time delay

Analysis of bilateral teleoperation systems under communication time-delay.

Adaptive transparent impedance reflecting teleoperation (1996).

A adaptive inverse dynamics 4-channel control of uncertain nonlinear teleoperation systems.

Absolute stability analysis of sampled-data scaled bilateral teleoperation systems.

Sliding-mode controller for bilateral teleoperation with varying time delay (1999)

Passive bilateral teleoperation with constant time delay

Impedance control of non-linear multi-DOF teleoperation systems with time delay: absolute stability

Multi-operator/multi-robot teleoperation: an adaptive nonlinear control approach

Impedance control of non-linear multi-DOF teleoperation systems with time delay: absolute stability

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