Control of a delayed teleoperation system applying state convergence approach | Diseño de un Controlador por Convergencia de Estado para un Sistema Teleoperado no Lineal con Retardo de Comunicación

© 2013 EA. This article presents a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. The bilateral control of the teleoperator system considers the case were the human operator applies a constant force on th...

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Detalhes bibliográficos
Autores: Tafur, J.C., García Cena, Cecilia, Aracil, Rafael, Saltarén, Roque
Formato: artículo
Fecha de publicación:2014
País:España
Recursos:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/109409
Acesso em linha:http://hdl.handle.net/10261/109409
Access Level:acceso abierto
Palavra-chave:Stability
Time-Delay
Lyapunov
Nonlinear control
Teleoperation
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spelling Control of a delayed teleoperation system applying state convergence approach | Diseño de un Controlador por Convergencia de Estado para un Sistema Teleoperado no Lineal con Retardo de ComunicaciónTafur, J.C.García Cena, CeciliaAracil, RafaelSaltarén, RoqueStabilityTime-DelayLyapunovNonlinear controlTeleoperation© 2013 EA. This article presents a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. The bilateral control of the teleoperator system considers the case were the human operator applies a constant force on the local manipulator and when the interaction of the remote manipulator with the environment is considered passive. The stability analysis was performed using Lyapunov-Krasovskii functionals, and it showed that using a control scheme by state convergence for the cases with variant time delay resulted in asymptotically stable local and remote nonlinear teleoperation systems. The proposed control strategies are independent of parameter uncertainties in the robot models, the human operator and the remote environment. It is also shown that, in the case of reliable communication protocols, the proposed scheme guarantees that the local-remote position coordination is achieved. The experimental results are presented to show the effectiveness of the main results.Peer ReviewedComité Español de Automática2015201520142015info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501http://hdl.handle.net/10261/109409reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglésinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/1094092026-05-22T06:33:51Z
dc.title.none.fl_str_mv Control of a delayed teleoperation system applying state convergence approach | Diseño de un Controlador por Convergencia de Estado para un Sistema Teleoperado no Lineal con Retardo de Comunicación
title Control of a delayed teleoperation system applying state convergence approach | Diseño de un Controlador por Convergencia de Estado para un Sistema Teleoperado no Lineal con Retardo de Comunicación
spellingShingle Control of a delayed teleoperation system applying state convergence approach | Diseño de un Controlador por Convergencia de Estado para un Sistema Teleoperado no Lineal con Retardo de Comunicación
Tafur, J.C.
Stability
Time-Delay
Lyapunov
Nonlinear control
Teleoperation
title_short Control of a delayed teleoperation system applying state convergence approach | Diseño de un Controlador por Convergencia de Estado para un Sistema Teleoperado no Lineal con Retardo de Comunicación
title_full Control of a delayed teleoperation system applying state convergence approach | Diseño de un Controlador por Convergencia de Estado para un Sistema Teleoperado no Lineal con Retardo de Comunicación
title_fullStr Control of a delayed teleoperation system applying state convergence approach | Diseño de un Controlador por Convergencia de Estado para un Sistema Teleoperado no Lineal con Retardo de Comunicación
title_full_unstemmed Control of a delayed teleoperation system applying state convergence approach | Diseño de un Controlador por Convergencia de Estado para un Sistema Teleoperado no Lineal con Retardo de Comunicación
title_sort Control of a delayed teleoperation system applying state convergence approach | Diseño de un Controlador por Convergencia de Estado para un Sistema Teleoperado no Lineal con Retardo de Comunicación
dc.creator.none.fl_str_mv Tafur, J.C.
García Cena, Cecilia
Aracil, Rafael
Saltarén, Roque
author Tafur, J.C.
author_facet Tafur, J.C.
García Cena, Cecilia
Aracil, Rafael
Saltarén, Roque
author_role author
author2 García Cena, Cecilia
Aracil, Rafael
Saltarén, Roque
author2_role author
author
author
dc.subject.none.fl_str_mv Stability
Time-Delay
Lyapunov
Nonlinear control
Teleoperation
topic Stability
Time-Delay
Lyapunov
Nonlinear control
Teleoperation
description © 2013 EA. This article presents a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. The bilateral control of the teleoperator system considers the case were the human operator applies a constant force on the local manipulator and when the interaction of the remote manipulator with the environment is considered passive. The stability analysis was performed using Lyapunov-Krasovskii functionals, and it showed that using a control scheme by state convergence for the cases with variant time delay resulted in asymptotically stable local and remote nonlinear teleoperation systems. The proposed control strategies are independent of parameter uncertainties in the robot models, the human operator and the remote environment. It is also shown that, in the case of reliable communication protocols, the proposed scheme guarantees that the local-remote position coordination is achieved. The experimental results are presented to show the effectiveness of the main results.
publishDate 2014
dc.date.none.fl_str_mv 2014
2015
2015
2015
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/109409
url http://hdl.handle.net/10261/109409
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Comité Español de Automática
publisher.none.fl_str_mv Comité Español de Automática
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,812429

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