Admittance parameterization in linear networked bilateral teleoperation control

DOI10.1016/J.AUTOMATICA.2020.109357MaRDI QIDQ2663865zbMATH OpenOpenAlexFDO

Authors Maxim Kristalny, Jang Ho Cho

Publication date 20 April 2021

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2020.109357

zbMATH Keywords

bilateral teleoperationdecentralized control, stability analysisdelayed systemshaptics

Mathematics Subject Classification ID

Decentralized systems (93A14) Linear systems in control theory (93C05) Delay control/observation systems (93C43) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

Review text

Consider a stand-alone bilateral teleoperation control system with linear stable communication dynamics and LTI master and slave devices detached from external dynamics. For deriving a characterization for all achievable teleoperator behavior, the Youla-Kucera parameterization of nominally stabilizing controllers is taken into account. For given communication constraints, e.g. delay length or sampling rate, all linear nominally stabilizing controllers are characterized, and a parameterization of feasible admittance matrices is provided. As a numerical example, a 1-dof setup, with master and slave devices is presented. Here, available observations are the device displacements, and the actuator forces are the control signals.

Recommendations

• An adaptive controller for nonlinear teleoperators
• Composite adaptive control for bilateral teleoperation systems without persistency of excitation
• Passivity-based control for bilateral teleoperation: a tutorial
• A novel adaptive robust control architecture for bilateral teleoperation systems under time-varying delays
• Adaptive control of delayed teleoperation systems with parameter convergence
• Adaptive neural network control of bilateral teleoperation with unsymmetrical stochastic delays and unmodeled dynamics
• Stability guaranteed teleoperation: an adaptive motion/force control approach
• Adaptive neural network control of bilateral teleoperation with constant time delay

Cites work

• A Characterization of Convex Problems in Decentralized Control$^ast$
• A small gain framework for networked cooperative force-reflecting teleoperation
• Bilateral teleoperation: An historical survey
• Control schemes for stable teleoperation with communication delay based on IOS small gain theorem
• scientific article; zbMATH DE number 3387195 (Why is no real title available?)
• Modern Wiener-Hopf design of optimal controllers--Part II: The multivariable case
• Passivity-based control for bilateral teleoperation: a tutorial
• Teleoperation in the presence of varying time delays and sandwich linearity in actuators

This page was built for publication: Admittance parameterization in linear networked bilateral teleoperation control

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2663865)