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Impedance control of non-linear multi-DOF teleoperation systems with time delay: absolute stability

Sharifi, M ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1049/iet-cta.2017.1253
  3. Abstract:
  4. A non-linear robust adaptive bilateral impedance controller is proposed to provide the absolute stability of multi-DOF teleoperation systems with communication delays, in addition to the force and position tracking performance. The proposed controller realises two desired (or reference) impedance models for the master and slave robots using a new non-linear robust version of the model reference adaptive control scheme. Using the absolute stability criterion, the robustness condition of the teleoperation system against communication delays is obtained, resulting in suitable adjustments of parameter values in the desired impedance models. In addition, using the Lyapunov stability theorem, the tracking performance of the master and slave robots and the robustness of the proposed controller against parametric and bounded unstructured modelling (non-parametric) uncertainties were proven. The performance of the proposed non-linear bilateral controller is investigated by performing some experiments on non-linear multi-degree-of-freedom (DOF) telerobots with and without communication delays. © The Institution of Engineering and Technology 2018
  5. Keywords:
  6. Controllers ; Degrees of freedom (mechanics) ; Delay control systems ; Remote control ; Robustness (control systems) ; Stability criteria ; System stability ; Time delay ; Timing circuits ; Ultrasonic devices ; Uncertainty analysis ; Absolute stability ; Absolute stability criteria ; Communication delays ; Impedance controllers ; Lyapunov stability theorem ; Multi degree-of-freedom ; Teleoperation systems ; Tracking performance ; Model reference adaptive control
  7. Source: IET Control Theory and Applications ; Volume 12, Issue 12 , 2018 , Pages 1722-1729 ; 17518644 (ISSN)
  8. URL: https://ieeexplore.ieee.org/document/8418211