Adaptive Controller Design of Pneumatic Teleoperation System

2015 ◽  
Author(s):  
Mohamad Anwar Baayoun ◽  
Naseem Daher ◽  
Matthias Liermann
Keyword(s):  
Adaptive Control ◽  
Force Feedback ◽  
Controller Design ◽  
Control Design ◽  
Force Sensor ◽  
Adaptive Controller ◽  
Physical Contact ◽  
Variable Environment ◽  
Linear Controller ◽  
Teleoperation System

This paper presents an adaptive control design of a pneumatic teleoperation system that could be useful for applications like MRI-guided surgery. The system under study is special because of its reduced number of components compared to other bilateral teleoperation systems, which reduces cost and complexity. The direct fluidic connection and the force feedback that is transferred to the human operator allow the operator to feel as if s/he were having physical contact with the environment without the need for a force sensor on the slave actuator. A simulation model that allows stability and transparency assessment is presented in detail. A linear controller is optimized for various operating remote environments via transparency assessment. The linear controller leads to good results for certain operating environments, but its tuning is dependent on the impedance characteristic of the environments both on the master and slave sides. Since the system must perform under parametric uncertainties on both sides of the teleoperator, an adaptive control scheme is developed. A self-tuning regulator is designed to allow the teleoperator to cope with a variable environment. The control design is validated in simulation and yielded satisfactory performance under multiple environment settings.

An Adaptively Controlled Electrohydraulic Servo-Mechanism: Part 1: Adaptive Controller Design

1987 ◽  
Vol 201 (3) ◽  
pp. 175-180 ◽  
Author(s):  
K A Edge ◽  
K R A Figueredo
Keyword(s):  
Adaptive Control ◽  
Controller Design ◽  
Control Design ◽  
Adaptive Controller ◽  
Adaptive Control System ◽  
Sampled Data ◽  
Robust Controller ◽  
Servo Mechanism ◽  
Control Scheme ◽  
Model Reference Adaptive

A systematic model reference adaptive control design scheme is presented. The control scheme is developed and analysed within the framework of a sampled data system with a parameter adaptive algorithm designed on the basis of hyper stability theory. A number of supervisory functions are used to supplement the basic adaptive control system in order to enhance robust controller action.

Bilateral Adaptive Control of Nonlinear Teleoperation Systems With Uncertain Dynamics and Dead-Zone

2018 ◽  
Vol 140 (12) ◽  
Author(s):  
Xia Liu ◽  
Mahdi Tavakoli
Keyword(s):  
Adaptive Control ◽  
Function Analysis ◽  
Dead Zone ◽  
Adaptive Controller ◽  
Bilateral Control ◽  
Uncertain Dynamics ◽  
Teleoperation System ◽  
Control Scheme ◽  
Teleoperation Systems ◽  
Dynamic Uncertainties

Dead-zone is one of the most common hard nonlinearities ubiquitous in master–slave teleoperation systems, particularly in the slave robot joints. However, adaptive control techniques applied in teleoperation systems usually deal with dynamic uncertainty but ignore the presence of dead-zone. Dead-zone has the potential to remarkably deteriorate the transparency of a teleoperation system in the sense of position and force tracking performance or even destabilizing the system if not compensated for in the control scheme. In this paper, an adaptive bilateral control scheme is proposed for nonlinear teleoperation systems in the presence of both uncertain dynamics and dead-zone. An adaptive controller is designed for the master robot with dynamic uncertainties and the other is developed for the slave robot with both dynamic uncertainties and unknown dead-zone. The two controllers are incorporated into the four-channel bilateral teleoperation control framework to achieve transparency. The transparency and stability of the closed-loop teleoperation system is studied via a Lyapunov function analysis. Comparisons with the conventional adaptive control which merely deal with dynamic uncertainties in the simulations demonstrate the validity of the proposed approach.

Control Design and Passivity Analysis for Scaled One-Dimensional Bilateral Teleoperated Nanomanipulation

2009 ◽  
Author(s):  
Mohammad Motamedi ◽  
Mohammad Taghi Ahmadian ◽  
Gholam Reza Vossoughi ◽  
Farid Tajaddodianfar
Keyword(s):  
Visual Information ◽  
Force Feedback ◽  
Control Design ◽  
Surface Forces ◽  
Nanometer Scale ◽  
Inertial Forces ◽  
One Dimensional ◽  
Control Approach ◽  
Passivity Analysis ◽  
Teleoperation System

In this paper, a novel control approach for one-dimensional bilateral teleoperated nanomanipulation system is proposed. While manipulating objects with a nanomanipulator, real time visual feedback is not available. So, force feedback is used to compensate for the lack of visual information. Since nanometer scale forces are dominated by surface forces instead of inertial forces as in macro world, scaling of nanoforces is one of the major issues of teleoperation system. The Hertz elastic contact model is used to model the interactions between the slave robot and the environment. The proposed approach uses the simple proportional derivative control, i.e., the master and slave robots are connected via a virtual spring and damper. The passivity of the combination of control blocks and communication is demonstrated via the control passivity concept. The outcome is a robust platform to enforce master-slave position coordination and perform teleoperated nanomanipulation on a broad range of materials. Simulations are performed to confirm the proposed control approach.

An Accelerated Algorithm for Improvement of Adaptation in Nonlinear Adaptive Control

2017 ◽  
Vol 18 (7-8) ◽  
Author(s):  
M. Davanipour ◽  
H. R. Javanmardi ◽  
N. Goodarzi
Keyword(s):  
Adaptive Control ◽  
Control Design ◽  
Adaptive Controller ◽  
Asymptotic Performance ◽  
Transient Performance ◽  
Polynomial Roots ◽  
Nonlinear Adaptive Control ◽  
Satisfactory Performance ◽  
Optimal Values ◽  
The Times

AbstractAdaptive control is capable of handling systems with uncertain parameters in terms of asymptotic performance; however, it is not so well in the transient performance. Even though adaptation gain is part of adaptive controller having much effects on the transient response, it has been considered as a constant gain most of the times. In this paper, a new Laypunov-based mechanism is proposed to find optimal values of adaptation gains in nonlinear adaptive control design. The algorithm inspired of the halving method for finding polynomial roots tries to find optimum values of the adaptation gains in a direction of minimizing a cost function. The simulation results show satisfactory performance of the proposed controller especially in terms transient performance.

Constant Turning Force Adaptive Controller Design

1989 ◽  
Vol 111 (2) ◽  
pp. 125-132 ◽  
Author(s):  
Bor-Sen Chen ◽  
Yih-Fang Chang
Keyword(s):  
Control System ◽  
Force Feedback ◽  
Controller Design ◽  
Cutting Tools ◽  
Design Procedure ◽  
Adaptive Controller ◽  
Pi Controller ◽  
Cutting Process ◽  
Time Varying ◽  
Good Reliability

In the Constant Turning Force Adaptive Control system, the cutting process is nonlinear time-varying; besides, the stability cannot be assured by classical control theory since the cutting tools usually cut a workpiece at various cutting depths. In this paper, based on the small gain theorem, we propose a new method to design a PI controller with high robustness to stabilize the force feedback control system against the nonlinear time-varying gain perturbation in the cutting process. A simple design procedure will be presented and several illustrative simulation results are given. The practical experimental results of a converted lathe with the PI controller designed with this method also show a good robustness and good reliability.

A μ-Synthesis Based Control for Compliant Maneuvers

2006 ◽  
Vol 128 (4) ◽  
pp. 914-921
Author(s):  
Yutaka Uchimura ◽  
H. Kazerooni
Keyword(s):  
Control System ◽  
Force Feedback ◽  
Controller Design ◽  
Force Sensor ◽  
Force Estimation ◽  
Dexterous Manipulation ◽  
Human Dynamics ◽  
Physical Strength ◽  
Human Power ◽  
Central Control System

This paper deals with a system, which is subjected to very uncertain factors: human and environment. These independent uncertainties are dealt with explicitly on the framework of μ-synthesis. We also describe a controller design, which enables a robust force feedback without using a force sensor. The model of human dynamics, environments, and actuators are modeled associated with uncertainties described in the form of weighting functions. A controller is designed based on the μ-synthesis so that it maintains robust performance against uncertainties in both environment and human dynamics, which contributes to dexterous manipulation. The controller described here is implemented on the human power extender, which is worn by a human and amplifies the human’s physical strength, while the human’s intelligence remains as the central control system for manipulation. Experimental results conducted on the extender showed that the force estimation worked fine and the control system performed as desired.

Reduced order indirect self-tuning regulator for a novel pneumatic tele-operation system

2019 ◽  
Vol 234 (3) ◽  
pp. 370-383
Author(s):  
Mohamad Baayoun ◽  
Naseem Daher ◽  
Matthias Liermann
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Force Feedback ◽  
Adaptive Controller ◽  
Adaptive Control System ◽  
Bilateral Control ◽  
Active Components ◽  
Operation System ◽  
Reduced Order ◽  
Self Tuning

This article presents a reduced order indirect self-tuning regulator for a passive pneumatic tele-operation system, which is intended for use in medical surgeries in magnetic resonance imaging environments with short transmission distances ([Formula: see text]), where force feedback is required. The novel tele-operation system uses less active components as compared to conventional systems and realizes a bilateral control without the use of a force or pressure sensor. The proposed adaptive control system is validated in simulation and experimentation on a test rig built for this purpose. Special attention is given to the notion of transparency of the system, which is the ratio between the resistance of the master device experienced by the operator and the actual resistance of the remote environment in contact with the slave device. The adaptive controller shows advantage over a previously designed non-adaptive control system design in terms of stiffness, damping, and transparency.

scholarly journals Flight and Interaction Control of an Innovative Ducted Fan Aerial Manipulator

Sensors ◽  
2020 ◽  
Vol 20 (11) ◽  
pp. 3019
Author(s):  
Yibo Zhang ◽  
Bin Xu ◽  
Changle Xiang ◽  
Wei Fan ◽  
Tianfu Ai
Keyword(s):  
Controller Design ◽  
Experimental Tests ◽  
Adaptive Controller ◽  
Physical Contact ◽  
Physical Interaction ◽  
The Novel ◽  
Interaction Control ◽  
Ducted Fan ◽  
Aerial Manipulator ◽  
Confined Environment

An innovative aerial manipulator with ducted fans is proposed to achieve side-on aerial manipulation tasks in a confined environment, such as canopy sampling in dense forests. The dynamic model of the novel design is studied, and on this basis a composite controller is proposed to address the challenges of arm extension and physical interaction during the manipulation process. An adaptive controller is proposed for the aerial platform to achieve good stability and tracking performance under the manipulator motion, and an impedance controller is designed for the manipulator to ensure compliance and stability during physical contact. The experimental tests validate the effectiveness of the proposed prototype structure and controller design.

Design and Analysis of Adaptive Control Systems Over Wireless Networks

2017 ◽  
Vol 139 (7) ◽  
Author(s):  
Ali Albattat ◽  
Benjamin Gruenwald ◽  
Tansel Yucelen
Keyword(s):  
Wireless Networks ◽  
Adaptive Control ◽  
Control Systems ◽  
Data Exchange ◽  
Controller Design ◽  
Adaptive Controller ◽  
System Stability ◽  
Design Parameters ◽  
Adaptive Control Systems ◽  
Command Following

In this paper, we study the design and analysis of adaptive control systems over wireless networks using event-triggering control theory. The proposed event-triggered adaptive control methodology schedules the data exchange dependent upon errors exceeding user-defined thresholds to reduce wireless network utilization and guarantees system stability and command following performance in the presence of system uncertainties. Specifically, we analyze stability and boundedness of the overall closed-loop dynamical system, characterize the effect of user-defined thresholds and adaptive controller design parameters to the system performance, and discuss conditions to make the resulting command following performance error sufficiently small. An illustrative numerical example is provided to demonstrate the efficacy of the proposed approach.

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