Volume 14, Issue 4 (Journal of Control, V.14, N.4 Winter 2021)
JoC 2021, 14(4): 43-54 |
Back to browse issues page
Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
Ebrahimi Bavili R, Akbari A, Mahboobi Esfanjani R. Bilateral Teleoperation System in the Presence of Non-passive Interaction Forces and Actuators Fault. JoC 2021; 14 (4) :43-54
URL: http://joc.kntu.ac.ir/article-1-655-en.html
URL: http://joc.kntu.ac.ir/article-1-655-en.html
Bilateral Teleoperation System in the Presence of Non-passive Interaction Forces and Actuators Fault
1- Sahand University of Technology
Abstract: (4974 Views)
This paper addresses the asymptotic stability, position and force tracking problem in the nonlinear bilateral teleoperation system in the presence of non-passive interaction forces, varying time-delay in communication channel and actuators fault occurrence. For this aim, a passive Fault Tolerant Control (FTC) law is presented which uses the joint positions and velocities of local and remote manipulators to reach control ends. Using the Lyapunov-Krasovskii theorem, sufficient conditions for asymptotic stability and position tracking are derived in terms of Linear Matrix Inequalities (LMIs), to tune controller parameters. The main contribution of the proposed method is that can compensate the bias fault and loss of effectiveness of actuators in nonlinear teleoperation system. Also the asymptotic stability of positions errors in the system with non-passive interaction forces is assured using the integral control. Simulation results of teleoperation system with 2 and 3 degree of freedom manipulators with proposed method and comparison to some rival method show the effectiveness and advantages of the proposed method.
Keywords: Bilateral Teleoperation system, Non-passive Interaction Forces, Actuator Fault, Asymptotic Stability and Position and Force Tracking
Type of Article: Research paper |
Subject:
Special
Received: 2019/03/5 | Accepted: 2020/01/13 | ePublished ahead of print: 2020/07/15 | Published: 2021/01/29
Received: 2019/03/5 | Accepted: 2020/01/13 | ePublished ahead of print: 2020/07/15 | Published: 2021/01/29
References
1. [1] P. F. Hokayem and M. Spong, "Bilateral teleoperation: An historical survey," Automatica, vol. 42, no. 12, pp. 2035-2057, 2006. [DOI:10.1016/j.automatica.2006.06.027]
2. [2] E. Nuno, L. Basanez and R. Ortega, "Passivity-based control for bilateral teleoperation: A tutorial," Automatica, vol. 47, no. 3, pp. 485-495, 2011. [DOI:10.1016/j.automatica.2011.01.004]
3. [3] P. Arcara and C. Melchiorri, "Control schemes for teleoperation with time delay: A comparative study," Robotics and Autonomous Systems, vol. 38, no. 1, pp. 49-64, 2002. [DOI:10.1016/S0921-8890(01)00164-6]
4. [4] R. Anderson and M. Spong, "Bilateral control of teleoperators with time delay," IEEE Tranation on Automatic Control, vol. 34, no. 5, pp. 494-501, 1989. [DOI:10.1109/9.24201]
5. [5] G. Niemeyer, and J. Slotine, "Stable adaptive teleoperation," IEEE Journal of Ocean Engineering, vol. 16, no. 1, pp. 152-162, 1991. [DOI:10.1109/48.64895]
6. [6] E. Nuno, L. Basanez, R. Ortega, and MW. Spong, "Position tracking for nonlinear teleoperators with variable time-delay," International Journal of Robotics & Research, vol. 28, no. 7, pp. 895-910, 2009. [DOI:10.1177/0278364908099461]
7. [7] E. Nuno, L. Basanez and M. Prada, "Asymptotic stability of teleoperators with variable time-delays," IEEE Conference on Conference on Robotics and Automation, pp. 4332-4337, 2009. [DOI:10.1109/ROBOT.2009.5152507]
8. [8] K. Baghestan, SM. Rezaei, HA Talebi and M. Zareinejad, "A controller-observer scheme for nonlinear bilateral teleoperation systems," Part I: Journal of Systems and Control Engineering, vol. 228, no. 1, pp. 49-59, 2013. [DOI:10.1177/0959651813502176]
9. [9] N. Chopra, M. Spong, and R. Lozano, "Synchronization of bilateral teleoperators with time delay," Automatica, vol. 44, no. 8, pp. 2142-2148, 2008. [DOI:10.1016/j.automatica.2007.12.002]
10. [10] E. Nuno, R. Ortega, L. Basanez, and N. Barabanov, "An adaptive controller for nonlinear bilateral teleoperators," Automatica, vol. 46, no. 1, pp. 155-159, 2010a. [DOI:10.1016/j.automatica.2009.10.026]
11. [11] F. Hashemzadeh, I. Hassanzadeh, M. Tavakoli, and G. Alizadeh, "Adaptive control for state synchronization of nonlinear haptic telerobotic systems with asymmetric varying time delays," Journal of Intelligent and Robotic Systems, vol. 68, no 4, pp. 245-259, 2012. [DOI:10.1007/s10846-012-9678-5]
12. [12] M. Dyck, A. Jazayeri and M. Tavakoli, "Is the human operator in a teleoperation system passive?," IEEE world Haptics Conference, pp. 683-688, 2013. [DOI:10.1109/WHC.2013.6548491]
13. [13] K. Mohammadi, H. A. Talebi and M. Zareinejad, "Lyapunov stability analysis of a bilateral teleoperation system interacting with active environment," RSI International Conference on Robotics and Mechatronics, pp. 96-101, 2015. [DOI:10.1109/ICRoM.2015.7367767]
14. [14] F. Hashemzadeh, and M. Tavakoli, "Position and force tracking in nonlinear teleoperation system under varying delays," Robotica, vol. 33, no. 4, pp. 1003-1016, 2015. [DOI:10.1017/S026357471400068X]
15. [15] S. Ganjefar, S. Rezaei, F. Hashemzadeh, "Position and force tracking in nonlinear teleoperation systems with sandwich linearity in actuators and time-varying delay," Mechanical Systems and Signal Processing, vol. 86(part A), pp. 308-324, 2017. [DOI:10.1016/j.ymssp.2016.09.023]
16. [16] I. G. Polushin and H. J. Marquez, "Stabilization of bilaterally controlled teleoperators with communication delay," International Journal of Control, vol 76, no. 8, pp. 858-870, 2003. [DOI:10.1080/0020717031000116515]
17. [17] I. G. Polushin, P. X. Liu, C.-H. Lung, "A control scheme for stable force-reflecting teleoperation over IP networks," IEEE Transactions on Systems, Man and Cybernetics, vol. 36, no. 4, pp. 930-939, 2006. [DOI:10.1109/TSMCB.2005.861878]
18. [18] R. Lozano, N. Chopra and M. W. Spong, "Convergence analysis of bilateral teleoperation with constant human input," American Control Conference, pp. 1443-1448, 2007. [DOI:10.1109/ACC.2007.4282718]
19. [19] C. Hua, and P. X. Liu, "Convergence analysis of teleoperation systems with unsymmetric time-varying delays," IEEE Transaction and Circuits Systems, Vol. 56, no. 3, pp. 240-244, 2009. [DOI:10.1109/TCSII.2009.2015364]
20. [20] SH. Islam, P. X. Liu, A. El Saddik, "Nonlinear control for teleoperation systems with time varying delay," Nonlinear Dynamics, vol.76, pp. 931-954, 2014. [DOI:10.1007/s11071-013-1179-y]
21. [21] SH. Islam, P. X. Liu, A. El Saddik and J. Dias, "Bilateral shared autonomous systems with passive and nonpassive input forces under time varying delay," ISA Transactions, vol. 54, pp. 218-228, 2015. [DOI:10.1016/j.isatra.2014.07.008]
22. [22] Y. Zhang and J. Jiang, "Bibliographical review on reconfigurable fault-tolerant control system," Annual Reviews in Control, vol. 32, pp. 229-252, 2008. [DOI:10.1016/j.arcontrol.2008.03.008]
23. [23] J. Jiang and X. Yu, "Fault tolerant control systems: a comparitive study between active and passive approaches," Annual Reviews in Control, vol. 36, no. 1, pp. 60-72, 2012. [DOI:10.1016/j.arcontrol.2012.03.005]
24. [24] A. Mirzaee and K. Salahshoor, "Fault diagnosis and accommodation of nonlinear systems based on multiple model adaptive unscented kalman filter and switched MPC and H-infinity loop shaping controller," Journal of Process Control, vol .22, no. 3, pp 626-634, 2012. [DOI:10.1016/j.jprocont.2012.01.002]
25. [25] M. Boukhnifer, and A. Ferreira, "Fault Tolerant Control of a bilateral Teleoperated Micromanipulation System," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. [DOI:10.1109/IROS.2008.4650863]
26. [26] M. Boukhnifer, and A. Ferreira, "Fault Tolerant Control of a Teleoperated Piezoelectric Microgripper," Asian J Cont, 15(4), pp. 1-13, 2012. [DOI:10.1002/asjc.593]
27. [27] L. Marton, and JA. Esclusa, "Energetic Approach for Actuator Fault Accommodation: Application to Bilateral Teleoperation," Sys Tol Conference on Control and Fault-Tolerant Systems, 2013. [DOI:10.1109/SysTol.2013.6693828]
28. [28] I. Sharifi, H. A. Talebi and M. Motaharifar, "Robust output feedbach controller design for time-delayed teleoperation: experimental results," Asian J Cont, 19(2), pp. 1-11, 2017. [DOI:10.1002/asjc.1387]
29. [29] X. Liu, M. Tavakoli and Q. Huang, "Nonlinear adaptive bilateral control of teleoperation systems with uncertain dynamics and kinematics," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010. [DOI:10.1109/IROS.2010.5652345]
30. [30] I. G. Polouchine, "Force-reflecting teleoperation over wide-area networks, Ph. D. thesis, Carleton university, Ottawa, Canada, 2009.
31. [31] ر. ابراهیمی باویلی و م. ج. خسروجردی، " طراحی کنترل کننده تحمل¬پذیر عیب مبتنی بر کنترل پیش¬بین غیرخطی مقاوم جهت جبران عیب محرک¬ها، " مجله کنترل، جلد 9، شماره 1، صفحه 24-13، 1394.
Send email to the article author
| Rights and permissions | |
 |
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License. |
