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Passivity-based control of nonlinear teleoperation systems with non-passive interaction forces

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Abstract

This paper addresses the problem of asymptotic stability and position tracking in nonlinear teleoperation systems interacting with non-passive operator and environment. A nonlinear control law which is designed based on Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) scheme, uses the positions and velocities of the joints of manipulators to provide asymptotic stability of tracking errors. Using the Lyapunov–Krasovskii theorem, sufficient conditions are derived in terms of computationally amenable Linear Matrix Inequalities (LMIs), to tune the controller parameters in the presence of asymmetrical varying time delay in the communication channel. The proposed controller synthesis methodology requires no known passive part in the dynamical model of interaction forces. Moreover, using the integral control notion, the asymptotic stability of the synchronization errors is assured. Comparative simulation results are presented to demonstrate the superiority of the proposed method compared to some rival ones. Finally, experimental results from a laboratory teleoperator are reported to confirm the applicability of the introduced scheme.

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Authors and Affiliations

  1. Department of Electrical Engineering, Sahand University of Technology, Tabriz, Iran

    Robab Ebrahimi Bavili, Ahmad Akbari & Reza Mahboobi Esfanjani

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  1. Robab Ebrahimi Bavili
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  2. Ahmad Akbari
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  3. Reza Mahboobi Esfanjani
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Correspondence to Reza Mahboobi Esfanjani.

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Appendix

Appendix

The simulations have been carried out by executing Algorithm in Matlab®.

figure a

In the experimental setup, controllers and communication channel are realized in Matlab® similar to simulation algorithm except that the interaction forces act directly on the robots in the real world and the states of system (i.e., \( q_{i} ,\dot{q}_{i} \)) are measured by the sensors. The control signals after calculation in the program are sent to DC motors by Arduino Uno which is supported by Arduino Hardware support package toolbox in Matlab®. Algorithm 2 describes this procedure.

figure b

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Ebrahimi Bavili, R., Akbari, A. & Mahboobi Esfanjani, R. Passivity-based control of nonlinear teleoperation systems with non-passive interaction forces. Intel Serv Robotics 13, 419–437 (2020). https://doi.org/10.1007/s11370-020-00327-6

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  • DOI: https://doi.org/10.1007/s11370-020-00327-6

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