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Control of Teleoperation Systems in the Presence of Varying Transmission Delay, Non-passive Interaction Forces, and Model Uncertainty

Published online by Cambridge University Press:  08 January 2021

Robab Ebrahimi Bavili ,
Ahmad Akbari  and
Reza Mahboobi Esfanjani Open the ORCID record for Reza Mahboobi Esfanjani [Opens in a new window]
Robab Ebrahimi Bavili
Affiliation:
Department of Electrical Engineering, Sahand University of Technology, Tabriz, Iran, E-mails: r.ebrahimi94@sut.ac.ir, a.akbari@sut.ac.ir
Ahmad Akbari
Affiliation:
Department of Electrical Engineering, Sahand University of Technology, Tabriz, Iran, E-mails: r.ebrahimi94@sut.ac.ir, a.akbari@sut.ac.ir
Reza Mahboobi Esfanjani*
Affiliation:
Department of Electrical Engineering, Sahand University of Technology, Tabriz, Iran, E-mails: r.ebrahimi94@sut.ac.ir, a.akbari@sut.ac.ir
*
*Corresponding author. E-mail: mahboobi@sut.ac.ir
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Summary

This paper addresses robust stability and position tracking problems in teleoperation systems subject to varying delay in the communication medium, uncertainties in the models of manipulators, and non-passive interaction forces in the terminations. Fixed-structure nonlinear control law is developed based on the notion of Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) scheme. Then, utilizing the Lyapunov–Krasovskii theorem, sufficient conditions are derived in terms of Linear Matrix Inequalities (LMIs) to tune the controller parameters. Differently from literature, the objectives are achieved without requirement for any passive parts in the model of interaction forces. Comparative simulations and experimental results demonstrate the applicability and superiority of the proposed method.

Keywords

Bilateral teleoperation systemModel uncertaintyNon-passive operator and environmentAsymptotic stabilityPassivity-based controller
Type
Article
Information
Robotica , Volume 39 , Issue 8 , August 2021 , pp. 1451 - 1467
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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