Synchronization of single-master multi-slave teleoperation systems with communication delays

2022 ◽  
Author(s):  
Parnian Khanzadeh ◽  
Ali-Akbar Ahmadi
Keyword(s):  
Communication Delays ◽  
Teleoperation Systems

Delay Compensation for Teleoperation Systems Based on Communication Disturbance Observers

2016 ◽  
Vol 20 (7) ◽  
pp. 1044-1050
Author(s):  
Wen-An Zhang ◽  
◽  
Junkai Jin ◽  
Xiang Qiu ◽  
Li Yu
Keyword(s):  
Control Problem ◽  
Disturbance Rejection ◽  
Disturbance Observer ◽  
Controller Design ◽  
Design Method ◽  
Smith Predictor ◽  
Time Varying ◽  
Communication Delays ◽  
Delay Compensation ◽  
Teleoperation Systems

This paper investigates the control problem for a class of teleoperation systems with communication delays. The network-induced delays are usually inevitable in teleoperation systems, and may be time varying and unpredictable. Since the conventional Smith predictor is only useful for fixed delays, a novel delay compensation and controller design method is proposed in this paper. The proposed method combines a disturbance rejection controller and a communication disturbance observer (CDOB). Simulations are provided to show the effectiveness and superiority of the proposed delay compensation and controller design method.

Stable Nonlinear Trilateral Impedance Control for Dual-User Haptic Teleoperation Systems With Communication Delays

2017 ◽  
Vol 139 (12) ◽  
Author(s):  
Mojtaba Sharifi ◽  
Hassan Salarieh ◽  
Saeed Behzadipour ◽  
Mahdi Tavakoli
Keyword(s):  
Absolute Stability ◽  
Impedance Control ◽  
Communication Delays ◽  
Haptic System ◽  
Impedance Model ◽  
Human Operators ◽  
Impedance Parameters ◽  
Teleoperation Systems ◽  
Dual User ◽  
Impedance Models

A new nonlinear adaptive impedance-based trilateral controller is proposed to ensure the absolute stability of multi-degrees-of-freedom (DOFs) dual-user haptic teleoperation systems subjected to communication delays. Using this strategy, reference impedance models are realized for the trilateral teleoperation system represented by a three-port network to facilitate cooperation of two human operators in order to perform a remote physical task. For this purpose, an impedance model defines the desired haptic interaction between the two human operators, while another impedance model specifies the desired behavior of the slave robot in terms of tracking the mater robots' trajectories during interaction with the remote environment. It is shown that different performance goals such as position synchronization and force reflection can be achieved via different adjustments to the impedance parameters. The sufficient conditions for the trilateral haptic system's absolute stability are investigated in terms of the impedance models' parameters. Accordingly, guidelines for modification of the impedance parameters are obtained to guarantee the absolute stability of the trilateral haptic system in the presence of communication time delays. A trilateral nonlinear version of the model reference adaptive impedance control (MRAIC) scheme is developed for implementing the proposed reference impedance models on the masters and the slave. The convergence of robots' trajectories to desired responses and the robustness against modeling uncertainties are ensured using the proposed controller as proven by the Lyapunov stability theorem. The proposed impedance-based control strategy is evaluated experimentally by employing a nonlinear multi-DOFs teleoperated trilateral haptic system with and without communication delays.

Adaptive Nonlinear Teleoperation with Time Delay Using Modified Wave Variable Based Controller

2011 ◽  
Vol 110-116 ◽  
pp. 2284-2295
Author(s):  
Wei Xiong ◽  
He Hua Ju ◽  
Hong Yun Liu
Keyword(s):  
Variable Method ◽  
Communication Delays ◽  
Bilateral Teleoperation ◽  
Wave Variable ◽  
Control Framework ◽  
Adaptive Motion ◽  
Key Issues ◽  
The Stability ◽  
Teleoperation Systems ◽  
Robotic Teleoperation

Transparency and stability are two key issues in bilateral teleoperation. In this paper, We propose a novel control framework for bilateral teleoperation of nonlinear robotic teleoperation systems under constant communication delays. The proposed approach utilizes the modified wave variable method based on the adaptive nonlinear control, the master and slave robots are directly connected over the delayed communication channels. To make the stability of the system independent of the communication delay, two nonlinear adaptive motion/force controllers are bilaterally designed for both master and slave manipulators and insured its passivity. To improve the transparency, a modified wave variable method based on Nimeyer-Slotine wave ways was used. Simulation results are presented which demonstrate the effectiveness of the proposed architecture.

Position and force tracking in nonlinear teleoperation systems under varying delays

Robotica ◽  
2014 ◽  
Vol 33 (4) ◽  
pp. 1003-1016 ◽  
Author(s):  
Farzad Hashemzadeh ◽  
Mahdi Tavakoli
Keyword(s):  
Nonlinear Dynamics ◽  
Communication Channel ◽  
Degree Of Freedom ◽  
Tracking Performance ◽  
Time Varying ◽  
Communication Delays ◽  
Teleoperation System ◽  
Control Scheme ◽  
Force Tracking ◽  
Teleoperation Systems

SUMMARYIn this paper, a novel control scheme is proposed to guarantee position and force tracking in nonlinear teleoperation systems subject to varying communication delays. Stability and tracking performance of the teleoperation system are proved using a proposed Lyapunov–Krasovskii functional. To show its effectiveness, the teleoperation controller is simulated on a pair of planar 2-DOF (degree of freedom) robots and experimented on a pair of 3-DOF PHANToM Premium 1.5A robots connected via a communication channel with time-varying delays. Both the planar robots in simulations and the PHANToM robots in experiments possess nonlinear dynamics.

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