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

被引：0
|
作者：
Amir Zakerimanesh
Farzad Hashemzadeh
Ali Torabi
Mahdi Tavakoli
机构：
[1] University of Tabriz,Faculty of Electrical and Computer Engineering
[2] University of Alberta,Department of Electrical and Computer Engineering
来源：
International Journal of Control, Automation and Systems | 2019年 / 17卷
关键词：
Asymptotic stability; redundant robot; semi-autonomous system; synchronization; time-varying delay;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
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.
引用
收藏
页码：1875 / 1883
页数：8
相关论文
共 50 条
  • [1] Controlled Synchronization of Nonlinear Teleoperation in Task-space with Time-varying Delays
    Zakerimanesh, Amir
    Hashemzadeh, Farzad
    Torabi, Ali
    Tavakoli, Mahdi
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2019, 17 (08) : 1875 - 1883
  • [2] Task-space synchronisation of nonlinear teleoperation with time-varying delays and actuator saturation
    Zakerimanesh, Amir
    Hashemzadeh, Farzad
    Tavakoli, Mahdi
    INTERNATIONAL JOURNAL OF CONTROL, 2020, 93 (06) : 1328 - 1344
  • [3] Task-space bilateral teleoperation systems for heterogeneous robots with time-varying delays
    Liu, Yen-Chen
    ROBOTICA, 2015, 33 (10) : 2065 - 2082
  • [4] A cooperative paradigm for task-space control of multilateral nonlinear teleoperation with bounded inputs and time-varying delays
    Zakerimanesh, Amir
    Hashemzadeh, Farzad
    Torabi, Ali
    Tavakoli, Mandi
    MECHATRONICS, 2019, 62
  • [5] Task-space Hybrid Motion/Force Control of Bilateral Teleoperation with Unsymmetrical Time-varying Delays
    Wang Dehong
    Li Zhijun
    Su Chun-Yi
    2014 33RD CHINESE CONTROL CONFERENCE (CCC), 2014, : 2133 - 2138
  • [6] Task-Space Framework for Bilateral Teleoperation With Time Delays
    Wang, Hanlei
    Xie, Yongchun
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2012, 134 (05):
  • [7] Passivity Based Task-Space Bilateral Teleoperation with Time Delays
    Wang, Hanlei
    Xie, Yongchun
    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2011, : 2098 - 2103
  • [8] Adaptive Robust Task-Space Control of Bilateral Teleoperation Systems with Time Delays
    Marufkhani, Hanie
    Doustmohammadi, Negar
    Sharifi, Iman
    2020 28TH IRANIAN CONFERENCE ON ELECTRICAL ENGINEERING (ICEE), 2020, : 321 - 327
  • [9] Adaptive Task-Space Synchronization Control of Bilateral Teleoperation Systems With Uncertain Parameters and Communication Delays
    Li, Yuling
    Yin, Yixin
    Zhang, Dezheng
    IEEE ACCESS, 2018, 6 : 5740 - 5748
  • [10] Position Synchronization in Bilateral Teleoperation Under Time-Varying Communication Delays
    Chawda, Vinay
    O'Malley, Marcia K.
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2015, 20 (01) : 245 - 253
12345