A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 6 Issue 5
Sep.  2019

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 6.171, Top 11% (SCI Q1)
    CiteScore: 11.2, Top 5% (Q1)
    Google Scholar h5-index: 51, TOP 8
Turn off MathJax
Article Contents
Zhenhua Zhao, Jun Yang, Shihua Li and Wen-Hua Chen, "Composite Nonlinear Bilateral Control for Teleoperation Systems With External Disturbances," IEEE/CAA J. Autom. Sinica, vol. 6, no. 5, pp. 1220-1229, Sept. 2019. doi: 10.1109/JAS.2018.7511273
Citation: Zhenhua Zhao, Jun Yang, Shihua Li and Wen-Hua Chen, "Composite Nonlinear Bilateral Control for Teleoperation Systems With External Disturbances," IEEE/CAA J. Autom. Sinica, vol. 6, no. 5, pp. 1220-1229, Sept. 2019. doi: 10.1109/JAS.2018.7511273

Composite Nonlinear Bilateral Control for Teleoperation Systems With External Disturbances

doi: 10.1109/JAS.2018.7511273
Funds:

the National Natural Science Foundation of China 61573099

the National Natural Science Foundation of China 61633003

the National Natural Science Foundation of China 61750110525

the National Natural Science Foundation of China 61903192

Fundamental Research Funds for the Central Universities 2242016R30011

Graduate Innovation Program of Jiangsu Province KYLX15-0114

Scientific Research Foundation of Graduate School of Southeast University YBJJ1561

Key Laboratory of Measurement and Control of School of Computer Science and Engineering (CSE) MCCSE2017A01

Key Laboratory of Measurement and Control of School of Computer Science and Engineering (CSE) MCCSE2019A01

More Information
  • This paper presents a new composite nonlinear bilateral control method based on the nonlinear disturbance observer (NDOB) for teleoperation systems with external disturbances. By introducing the estimations of NDOB and systems' nominal nonlinear dynamics into controller design, a NDOB based composite nonlinear bilateral controller is constructed to attenuate the influence of disturbance and uncertain nonlinearities. As compared with the existing bilateral control methods which usually achieve force haptic (i.e., contact force tracking) through a passive way, the newly proposed method has two major merits: 1) asymptotical convergence of both position and force tracking errors is guaranteed; 2) disturbance influence on force tracking error dynamics is rejected through the direct feedforward compensation of disturbance estimation. Simulations on a nonlinear teleoperation system are carried out and the results validate the effectiveness of the proposed controller.

     

  • loading
  • [1]
    P. F. Hokayem and M. W. Spong, "Bilateral teleoperation: an historical survey, " Automatica, vol. 48, no. 12, pp. 2035-2057, 2006. http://d.old.wanfangdata.com.cn/NSTLQK/NSTL_QKJJ026987994/
    [2]
    J. Yan, X. Yang, C. Chen, and X. Guan, "Bilateral teleoperation of multiple agents with formation control, " IEEE/CAA J. Autom. Sinica, vol. 1, no. 2, pp. 141-148, Apr. 2014.
    [3]
    P. Xiong, X. Zhu, A. Song, L. Hu, X. Liu, and L. Feng, "A target grabbing strategy for telerobot based on improved stiffness display device, " IEEE/CAA J. Autom. Sinica, vol. 4, no. 4, pp. 661-667, Oct. 2017.
    [4]
    Z. Li, X. Cao, and N. Ding, "Adaptive fuzzy control for synchronization of nonlinear teleoperators with stochastic time-varying communication delays" IEEE Trans. Fuzzy Syst., vol. 19, no. 4, pp. 745-757, Aug. 2011.
    [5]
    Z. Li, Y. Xia, D. Wang, D. H. Zhai, C. Y. Sun, and X. Zhao, "Neural network-based control of networked trilateral teleoperation with geometrically unknown constraints, " IEEE Trans. Cybern., vol. 46, no. 5, pp. 1051-1064, May 2016.
    [6]
    D. A. Lawrence, "Stability and transparency in bilateral teleoperation, " IEEE Trans. Robot. Autom., vol. 9, no. 5, pp. 624-637, Oct. 1993.
    [7]
    N. Hogan "Impedance control: an approach to manipulation: Part Ⅱ-Implementation, " J. Dyn. Syst. Meas. Control Trans. ASME, vol. 107, pp. 8-16, Mar. 1985.
    [8]
    L. J. Love and W. J. Book, "Force reflecting teleoperation with adaptive impedance control, " IEEE Trans. Syst., Man, Cybern. B, Cybern., vol. 34, no. 1, pp. 159-165, Feb. 2004.
    [9]
    J. Yang, S. Li, and X. Yu, "Sliding-mode control for systems with mismatched uncertainties via a disturbance observer, " IEEE Trans. Ind. Electron., vol. 60, no. 1, pp. 160-169, Jan. 2013.
    [10]
    S. Sakaino, T. Sato, and K. Ohnishi, "Multi-DOF micro-macro bilateral controller using oblique coordinate control, " IEEE Trans. Ind. Informat., vol. 7, no. 3, pp. 446-454, Aug. 2011.
    [11]
    T. Nozaki, T. Mizoguchi, and K. Ohnishi, "Decoupling strategy for position and force control based on modal space disturbance observer, " IEEE Trans. Ind. Electron., vol. 61, no. 2, pp. 1022-1032, Feb. 2014.
    [12]
    K. Ohnishi, M. Shibata, and T. Murakami, "Motion control for advanced mechatronics, " IEEE/ASME Trans. Mechatronics, vol. 1, no. 1, pp. 56- 67, Mar. 1996.
    [13]
    W. H. Chen, D. J. Ballance, P. J. Gawthrop, and J. O'Reilly, "A nonlinear disturbance observer for robotic manipulators, " IEEE Trans. Ind. Electron., vol. 47, no. 4, pp. 932-938, Aug. 2000.
    [14]
    A. Hace and M. Franc, "Pseudo-sensorless high-performance bilateral teleoperation by sliding-mode control and FPGA, " IEEE/ASME Trans. Mechatron., vol. 19, no. 1, pp. 384-393, Feb. 2014.
    [15]
    X. Liu, R. Tao, and M. Tavakoli, "Adaptive control of uncertain nonlinear teleoperation systems, " Mechatronics, vol. 24, no. 1, pp. 66-78, 2014. Feb. 2014.
    [16]
    W. H. Chen, J. Yang, L. Guo, and S. Li, "Disturbance-observer-based control and related methods-An overview, " IEEE Trans. Ind. Electron., vol. 63, no. 2, pp. 1083-1095, Feb. 2016.
    [17]
    W. He, S. Zhang, and S. S. Ge, "Boundary output-feedback stabilization of a Timoshenko beam using disturbance observer, " IEEE Trans. Ind. Electron., vol. 60, no. 11, pp. 5186-5194, Nov. 2013.
    [18]
    W. He and S. S. Ge, "Vibration control of a nonuniform wind turbine tower via disturbance observer, " IEEE/ASME Trans. Mechatron., vol. 20, no. 1, pp. 237-244, Feb. 2015.
    [19]
    W. He, Z. Yan, C. Sun, and Y. Chen, "Adaptive neural network control of a flapping wing micro aerial vehicle with disturbance observer, " IEEE Trans. Cybern., vol. 47, no. 10, pp. 3452-3465, Oct. 2017.
    [20]
    M. Chen, P. Chen, and C. C. Lim, "Adaptive neural fault-tolerant control of a 3-DOF model helicopter system, " IEEE Trans. Syst. Man Cybern.-Syst., vol. 46, no. 2, pp. 260-270, Feb. 2016.
    [21]
    C. Mitsantisuk, S. Katsura, and K. Ohishi, "Force control of human-robot interaction using twin direct-drive motor system based on modal space design, " IEEE Trans. Ind. Electron., vol. 57, no. 4, pp. 1383- 1392, Aug. 2010.
    [22]
    S. Li, J. Yang, W. H. Chen, and X. Chen, "Generalized extended state observer based control for systems with mismatched uncertainties, " IEEE Trans. Ind. Electron., vol. 59, no. 12, pp. 4792-4802, Dec. 2012.

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(6)  / Tables(2)

    Article Metrics

    Article views (783) PDF downloads(26) Cited by()

    Highlights

    • The bilateral control problem for the teleoperation systems with the aim of remote force haptic and local motion reproduction is firstly abstracted into the reference tracking control problem.
    • Asymptotical convergence of both position and force tracking errors is guaranteed for the teleoperation systems with external disturbances.
    • The disturbance influence on force tracking error dynamics is rejected through the direct feedforward compensation of disturbance estimation.

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return