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Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance
National University of Singapore, Singapore, Singapore. (Center of Apllied Autonomous Sensor System)ORCID iD: 0000-0002-0334-2554
University of Wollongong, Wollongong, Australia.
University of Wollongong, Wollongong, Australia.
2017 (English)In: Nonlinear dynamics, ISSN 0924-090X, E-ISSN 1573-269X, Vol. 87, p. 1253-1270Article in journal (Refereed) Published
Abstract [en]

A novel approach applying the extended prescribed performance control (PPC) and the wavebased time domain passivity approach (wave-based TDPA) to teleoperation systems is proposed. With the extended PPC, a teleoperation system can synchronize position, velocity and force. Moreover, by combining with the extended wave-based TDPA, the overall system’s passivity is guaranteed in the presence of arbitrary time delays. The system’s stability and performance are analyzed by using Lyapunov functions. The method is validated through experimental work based on a 3-DOF bilateral teleoperation system. The experimental results showthat the proposed control algorithm can robustly guarantee the master–slave system’s passivity and simultaneously provide high tracking performance of position, velocity and measured force signals.

Place, publisher, year, edition, pages
Dordrecht, Netherlands: Springer, 2017. Vol. 87, p. 1253-1270
Keywords [en]
Bilateral teleoperation, prescribed, performance control (PPC) time domain passivity approach (TDPA), wave variable, passivity, time-varying delay
National Category
Robotics
Research subject
Automatic Control
Identifiers
URN: urn:nbn:se:oru:diva-64479DOI: 10.1007/s11071-016-3113-6ISI: 000392293200038Scopus ID: 2-s2.0-84990903030OAI: oai:DiVA.org:oru-64479DiVA, id: diva2:1177023
Available from: 2018-01-24 Created: 2018-01-24 Last updated: 2018-01-31Bibliographically approved

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Time Domain Passivity Control of Time Delayed Telerobotics with Prescribed Performance(1491 kB)36 downloads
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