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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: (5670 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
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