Robust Adaptive Control of Internet-based Bilateral Teleoperation Systems with Time-Varying Delay and Model Uncertainties

2019 ◽  
Author(s):  
Parham M. Kebria ◽  
Abbas Khosravi ◽  
Saeid Nahavandi ◽  
David Watters ◽  
Glenn Guest ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Robust Adaptive Control ◽  
Time Varying ◽  
Bilateral Teleoperation ◽  
Model Uncertainties ◽  
Time Varying Delay ◽  
Robust Adaptive ◽  
Teleoperation Systems ◽  
Varying Delay

Robust Adaptive Control of Robotic Manipulator with Input Time-varying Delay

2019 ◽  
Vol 17 (9) ◽  
pp. 2193-2202 ◽  
Author(s):  
Saim Ahmed ◽  
Haoping Wang ◽  
Muhammad Shamrooz Aslam ◽  
Imran Ghous ◽  
Irfan Qaisar
Keyword(s):  
Adaptive Control ◽  
Robotic Manipulator ◽  
Robust Adaptive Control ◽  
Time Varying ◽  
Time Varying Delay ◽  
Input Time ◽  
Robust Adaptive ◽  
Varying Delay

Task-space bilateral teleoperation systems for heterogeneous robots with time-varying delays

Robotica ◽  
2014 ◽  
Vol 33 (10) ◽  
pp. 2065-2082 ◽  
Author(s):  
Yen-Chen Liu
Keyword(s):  
Control System ◽  
Time Varying ◽  
Bilateral Teleoperation ◽  
Task Space ◽  
Task Control ◽  
Time Varying Delay ◽  
Heterogeneous Robots ◽  
Remote Environment ◽  
Teleoperation Systems ◽  
Varying Delay

SUMMARYThis paper proposes control algorithms for heterogeneous teleoperation systems to guarantee stability and tracking performance in the presence of time-varying communication delays. Because robotic manipulators, in most applications of bilateral teleoperation systems, interact with a human operator and remote environment on the end-effector, the control system is developed in the task-space. When the dynamic parameters of the robots are unknown and the communication network is subject to time-varying delay, the developed controller can ensure stability and task-space position tracking. Additionally, if the robotic systems are influenced by human and environmental forces, the presented teleoperation control system is demonstrated to be stable and all signals are proven to be ultimately bounded. By employing the redundancy of the slave robot for sub-task control, the proposed teleoperation system can autonomously achieve additional missions in the remote environment. Numerical examples utilizing a redundant planar robot are addressed to validate the proposed task-space teleoperators with time-varying delay.

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