Hostname: page-component-cd9895bd7-mkpzs Total loading time: 0 Render date: 2024-12-23T13:18:01.728Z Has data issue: false hasContentIssue false
  • English
  • Français

A sliding-mode controller for dual-user teleoperation with unknown constant time delays

Published online by Cambridge University Press:  19 October 2012

Mahya Shahbazi ,
S. Farokh Atashzar ,
H. A. Talebi ,
F. Towhidkhah  and
M. J. Yazdanpanah
Mahya Shahbazi
Affiliation:
Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran
S. Farokh Atashzar
Affiliation:
Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran
H. A. Talebi*
Affiliation:
Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran
F. Towhidkhah
Affiliation:
Department of Biomedical Engineering, Amirkabir University of Technology, Tehran, Iran
M. J. Yazdanpanah
Affiliation:
Department of Electrical and Computer Engineering, University of Tehran, Tehran, Iran
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, a control methodology is proposed for dual-user teleoperation system in the presence of unknown constant communication time delay. To satisfy dual-user system-desired objectives, three impedance characteristics are defined as the desired closed-loop system. In order to satisfy the desired impedance characteristics, a sliding-mode-based impedance controller is applied. The proposed controller affords unknown communication delay, an issue that is disregarded in the previous studies performed on dual-user systems. The nonlinear gain of the controller is achieved independent of time delay caused by communication channels. Therefore, the necessity of measurement or estimation of the time delay is relaxed. In addition, the stability analysis is presented for the closed-loop system using the passivity theory. The validity of the proposed controller scheme is demonstrated via experimental results performed on a dual-user system in the presence of unknown communication delay. In addition, due to lack of availability of forces corresponding to the operators’ hand that are required in the proposed controller, a Kalman Filter-based Force Observer (KFFO) is proposed.

Keywords

Dual-user systemTeleoperationSliding-mode controlMulti-master/single-slave systemUnknown time delay
Type
Articles
Information
Robotica , Volume 31 , Issue 4 , July 2013 , pp. 589 - 598
Copyright
Copyright © Cambridge University Press 2012 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Zhang, L., Gao, H., Zhang, G. and Wu, L., “Agent-based modelling and control of tele-robotic welding system,” Proc. Inst. Mech. Eng., B J. Eng. Manuf. 220 (12), 2087–2094 (2006).CrossRefGoogle Scholar
2.Trejos, A. L., Patel, R. V. and Naish, M. D., “Force sensing and its application in minimally invasive surgery and therapy: A survey,” Proc. Inst. Mech. Eng., C J. Mech. Eng. Sci. 224 (7), 1435–1454 (2010).CrossRefGoogle Scholar
3.Shahbazi, M., Talebi, H. A. and Yazdanpanah, M. J., “A Control Architecture for Dual User Teleoperation with Unknown Time Delays: A Sliding Mode Approach,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Montreal, Canada (July 6–9 2010) pp. 1221–1226.Google Scholar
4.Lawrence, D., “Stability and transparency in bilateral teleoperation,” IEEE Trans. Robot. Automat. 9, 624–637 (Oct. 1993).CrossRefGoogle Scholar
5.Zhang, J. F., Yang, C. J. and Chen, Y., “A novel multi-event-based control for robot bilateral tele-operation with an exoskeleton arm under time delay,” Proc. Inst. Mech. Eng. C J. Mech. Eng. Sci. 223 (6), 1481–1491 (2009).CrossRefGoogle Scholar
6.Hassanzadeh, I., Moosapour, S. S. and Mansouri, S., “Implementation and investigation of internet-based teleoperation of a mobile robot using wave variable approach,” Proc. Inst. Mech. Eng. I J. Syst. Control Eng. 224 (4), 471–477 (2010).Google Scholar
7.Her, M. G., Karkoub, M. and Hsu, K. S., “Design and control of a two-dimensional telerobotic system with a haptic interface,” Proc. Inst. Mech. Eng. I J. Syst. Control Eng. 217 (3), 169–185 (2003).Google Scholar
8.Hokayem, P. F. and Spong, M. W., “Bilateral teleoperation: An historical survey,” Automatica 42, 2035–2057 (2006).CrossRefGoogle Scholar
9.Khademian, B. and Hashtrudi-Zaad, K., “A Four-Channel Multilateral Shared Control Architecture for Dual-User Teleoperation Systems,” HYPERLINK “http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=4398943” IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, California, USA (Oct. 29 2007–Nov. 2 2007) pp. 2660–2666.CrossRefGoogle Scholar
10.Carignan, C. R. and Olsson, P. A., “Cooperative control of virtual objects over the internet using force-reflecting master arms,” Proc. IEEE Int. Conf. Rob. Auto. 2, 1221–1226 (2004).Google Scholar
11.Nudehi, S. S., Mukherjee, R. and Ghodoussi, M., “A shared-control approach to haptic interface design for minimally invasive telesurgical training,” IEEE Trans. Cont. Sys. Tech., 13, 588–592 (2005).CrossRefGoogle Scholar
12.Sirouspour, S., “Modelling and control of cooperative teleoperation systems,” IEEE Trans. Rob. 21 (6), 1576–1581 (2005).CrossRefGoogle Scholar
13.Sirouspour, S. and Setoodeh, P., “Multi-operator/multi-robot teleoperation: An adaptive nonlinear control approach,” Proc. IEEE/RSJ Int. Conf. Intell. Rob. Sys. 1576–1581 (2005).CrossRefGoogle Scholar
14.Khademian, B. and Hashtrudi-zaad, K., “A Robust Multilateral Shared Controller for Dual-User Teleoperation Systems,” Control and Robotics Symposium of the 2008 IEEE Canadian Conferences on Electrical and Computer Engineering (CCECE'08), Niagara Falls, Ontario, Canada (4–7 May 2008) pp. 001871–001876.CrossRefGoogle Scholar
15.Anderson, R. J. and Spong, M. W., “Bilateral control of teleoperators with time delay,” IEEE Trans. Autom. Control 34, 294–501 (1989).CrossRefGoogle Scholar
16.Shahbazi, M., Talebi, H. A. and Towhidkhah, F., “A Robust Control Architecture for Dual User Teleoperation System with Time-Delay,” 36th Annual Conference of the IEEE Industrial Electronics Society, AZ, USA, (7–10 Nov. 2010) pp. 1419–1423.Google Scholar
17.Cho, H. Ch. and Park, J. H., “Stable bilateral teleoperation under a time delay using a robust impedance control,” Mechatronics 15 (5), 611–625 (2005).CrossRefGoogle Scholar
18.Sciavicco, L. and Siciliano, B., Modelling and Control of Robot Manipulators (Springer-Verlag, Berlin, Germany, 2000).CrossRefGoogle Scholar
19.Chen, C. L. and Lin, W. Y., “Sliding mode control for non-linear systems with global invariance,” Proc. Inst. Mech. Eng. I J. Syst. Control Eng. 211 (1), 75–82 (1997).Google Scholar
20.Slotin, J. J. E. and Li, W., Applied Nonlinear Control (Prentice-Hall, Inc., 1991), New Jersey, USA.Google Scholar
21.Koshkouei, A. J., “Sliding-mode control with passivity for a continuously stirred tank reactor,” Proc. Inst. Mech. Eng. I J. Syst. Control Eng. 221 (5), 749–755 (2007).Google Scholar
22.Haykin, S. S., Active Network Theory (Addison-Wesly, 1970), Boston, Massachusetts, USA.Google Scholar
23.Reif, K., Gunther, S. and Yaz, E., “Stochastic stability of the discrete-time extended Kalman filter,” IEEE Trans. Autom. Control 44 (4), 714–728 (1999).CrossRefGoogle Scholar