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
Muhammad Usman Asad, Umar Farooq, Jason Gu, Ghulam Abbas, Rong Liu and Valentina E. Balas, "A Composite State Convergence Scheme for Bilateral Teleoperation Systems," IEEE/CAA J. Autom. Sinica, vol. 6, no. 5, pp. 1166-1178, Sept. 2019. doi: 10.1109/JAS.2019.1911690
Citation: Muhammad Usman Asad, Umar Farooq, Jason Gu, Ghulam Abbas, Rong Liu and Valentina E. Balas, "A Composite State Convergence Scheme for Bilateral Teleoperation Systems," IEEE/CAA J. Autom. Sinica, vol. 6, no. 5, pp. 1166-1178, Sept. 2019. doi: 10.1109/JAS.2019.1911690

A Composite State Convergence Scheme for Bilateral Teleoperation Systems

doi: 10.1109/JAS.2019.1911690
Funds:  This work was supported by the Natural Sciences and Engineering Research Council of Canada (NSERC)
More Information
  • State convergence is a novel control algorithm for bilateral teleoperation of robotic systems. First, it models the teleoperation system on state space and considers all the possible interactions between the master and slave systems. Second, it presents an elegant design procedure which requires a set of equations to be solved in order to compute the control gains of the bilateral loop. These design conditions are obtained by turning the master-slave error into an autonomous system and imposing the desired dynamic behavior of the teleoperation system. Resultantly, the convergence of master and slave states is achieved in a well-defined manner. The present study aims at achieving a similar convergence behavior offered by state convergence controller while reducing the number of variables sent across the communication channel. The proposal suggests transmitting composite master and slave variables instead of full master and slave states while keeping the operator’s force channel intact. We show that, with these composite and force variables; it is indeed possible to achieve the convergence of states in a desired way by strictly following the method of state convergence. The proposal leads to a reduced complexity state convergence algorithm which is termed as composite state convergence controller. In order to validate the proposed scheme in the absence and presence of communication time delays, MATLAB simulations and semi-real time experiments are performed on a single degree-of-freedom teleoperation system.

     

  • loading
  • [1]
    B. Siciliano, O. Khatib, Springer handbook of robotics, Berlin: Springer, 2008.
    [2]
    P. F. Hokayem, M. W. Spong, " Bilateral teleoperation: an historical survey,” Automatica, vol. 42, pp. 2035–2057, 2006. doi: 10.1016/j.automatica.2006.06.027
    [3]
    P. Arcara, C. Melchiorri, " Control schemes for teleoperation with time delay: a comparative study,” Robotics and Autonomous Systems, vol. 38, pp. 49–64, 2002. doi: 10.1016/S0921-8890(01)00164-6
    [4]
    R. Muradore, P. Fiorini, " A review of bilateral teleoperation algorithms,” Acta Polytechnica Hungarica, vol. 13, no. 1, pp. 191–208, 2016.
    [5]
    P. M. Kebria, H. Abdi, M. M. Dalvand, A. Khosravi, S. Nahavandi, " Control methods for internet-based teleoperation systems: a review,” IEEE Transactions on Human-Machine Systems, pp. 1–15, 2018.
    [6]
    A. Bolopion, S. Regnier, " A review of haptic feedback teleoperation systems for micromanipulation and microassembly,” IEEE Transactions on Automation Science and Engineering, vol. 10, no. 3, pp. 496–502, 2013. doi: 10.1109/TASE.2013.2245122
    [7]
    T. B. Sheridan, " Space teleoperation through time delay: review and prognosis,” IEEE Trans. on Robotics &Automation, vol. 9, no. 5, pp. 592–606, 1993.
    [8]
    I. J. Rudas, J. Gati, A. Szakal, K. Nemethy, " From the smart hands to teleoperations,” Acta Polytechnica Hungarica, vol. 13, no. 1, pp. 43–60, 2016.
    [9]
    A. A. Ghavifekr, A. R. Ghiasi, M. A. Badamchizadeh, " Discrete-time control of bilateral teleoperation systems: a review,” Robotica, vol. 36, pp. 552–569, 2017.
    [10]
    R. Anderson, M. W. Spong, " Bilateral control of teleoperators with time delay,” IEEE Transactions on Automatic Control, vol. 34, no. 5, pp. 494–501, 1989. doi: 10.1109/9.24201
    [11]
    G. Niemeyer, J. J. E. Slotine, " Stable adaptive teleoperation,” IEEE Journal of Oceanic Engineering, vol. 16, no. 1, pp. 152–162, 1991. doi: 10.1109/48.64895
    [12]
    Z. Chen, F. Huang, W. Sun, W. Song, " An improved wave-variable based four-channel control design in bilateral teleoperation system for time delay compensation,” IEEE Access, vol. 6, pp. 12848–12857, 2018. doi: 10.1109/ACCESS.2018.2805782
    [13]
    J. Ryu, D. Kwon, B. Hannaford, " Stable teleoperation with time-domain passivity control,” IEEE Transactions on Robotics and Automation, vol. 20, no. 2, pp. 365–373, 2004. doi: 10.1109/TRA.2004.824689
    [14]
    L. Marton, Z. Szanto, T. Haidegger, P. Galambos, J. Kovecses, " Internet based bilateral teleoperation using a revised time-domain passivity controller,” Acta Polytechnica Hungarica, vol. 14, no. 8, pp. 27–45, 2017.
    [15]
    Y. Ye, Y. J. Pan, Y. Gupta, J. Ware, " A power-based time domain passivity control for haptic interfaces,” IEEE Transactions on Control Systems Technology, vol. 19, no. 14, pp. 874–883, 2011.
    [16]
    R. Kikuuwe, K. Kanaoka, M. Yamamoto, " Phase-lead stabilization of force-projecting master-slave systems with a new sliding mode filter,” IEEE Transactions on Control Systems Technology, vol. 23, no. 6, pp. 2182–2194, 2015. doi: 10.1109/TCST.2015.2404893
    [17]
    A. Hace, M. Franc, " FPGA implementation of sliding mode control algorithm for scaled bilateral teleoperation,” IEEE Transactions on Industrial Electronics, vol. 9, no. 3, pp. 1291–1300, 2013. doi: 10.1109/TII.2012.2227267
    [18]
    J. Yan, S. E. Salcudean, " Teleoperation controller design using H∞ optimization with application to motion scaling,” IEEE Transactions on Control Systems Technology, vol. 4, no. 3, pp. 244–258, 1996. doi: 10.1109/87.491198
    [19]
    Z. Chen, Y. J. Pan, J. Gu, " Integrated adaptive robust control for multilateral teleoperation systems under arbitrary time delays,” International Journal of Robust and Nonlinear Control, vol. 26, no. 12, pp. 2708–2728, 2016. doi: 10.1002/rnc.v26.12
    [20]
    N. Chopra, M. W. Spong, R. Lozano, " Adaptive coordination control of bilateral teleoperators with time delay,” in Proc. IEEE Conf. on Decision and Control, pp. 4540–4547, 2004.
    [21]
    Y. Li, Y. Yin, D. Zhang, " Adaptive task-space synchronization control of bilateral teleoperation systems with uncertain parameters and communication delays,” IEEE Access, vol. 6, pp. 5740–5748, 2018. doi: 10.1109/ACCESS.2018.2789864
    [22]
    H. Zhang, A. Song, S. Shen, " Adaptive finite time synchronization control for teleoperation system with varying time delays,” IEEE Access, vol. 6, pp. 40940–40949, 2018. doi: 10.1109/Access.6287639
    [23]
    L. Chan, F. Naghdy, D. Stirling, " Application of adaptive controllers in teleoperation systems,” IEEE Transactions on Human-Machine Systems, vol. 44, no. 3, pp. 337–352, 2014. doi: 10.1109/THMS.2014.2303983
    [24]
    Z. Li, Y. Xia, F. Sun, " Adaptive fuzzy control for multilateral cooperative teleoperation of multiple robotic manipulators under random network-induced delays,” IEEE Transactions on Fuzzy Systems, vol. 22, no. 2, pp. 437–450, April. 2014. doi: 10.1109/TFUZZ.2013.2260550
    [25]
    U. Farooq, J. Gu, M. El-Hawary, M. U. Asad, G. Abbas, " Fuzzy model based bilateral control design of nonlinear tele-operation system using method of state convergence,” IEEE Access, 2016.
    [26]
    C. Yang, X. Wang, Z. Li, Y. Li, C. Su, " Teleoperation control based on combination of wave variable and neural Networks,” IEEE Transactions on Systems,Man,and Cybernetics:Systems, vol. 47, no. 8, pp. 2125–2136, Aug. 2017. doi: 10.1109/TSMC.2016.2615061
    [27]
    D. Sun, F. Naghdy, H. Du, " Neural network-based passivity control of teleoperation system under time-varying delays,” IEEE Transactions on Cybernetics, vol. 47, no. 7, pp. 1666–1680, 2017. doi: 10.1109/TCYB.2016.2554630
    [28]
    Y. Matsumoto, S. Katsura and K. Ohnishi, " An analysis and design of bilateral control based on disturbance observer,” in Proc. of IEEE Int. Conf. on Industrial Technology, pp. 802–807, 2003.
    [29]
    A. Suzuki, K. Ohnishi, " Frequency domain damping design for time-delayed bilateral teleoperation system based on modal space analysis,” IEEE Transactions on Industrial Electronics, vol. 60, no. 1, pp. 177–190, 2013. doi: 10.1109/TIE.2012.2183832
    [30]
    A. Mohammadi, M. Tavakoli, H. J. Marquez, " Disturbance observer-based control of non-linear haptic teleoperation system,” IET Control Theory and Applications, vol. 5, no. 18, pp. 2063–2074, 2011. doi: 10.1049/iet-cta.2010.0517
    [31]
    Z. Zhao, J. Yang, S. Li, W-H. Chen, " Composite nonlinear bilateral control for teleoperation systems with external disturbances,” IEEE/CAA Journal of Automatica Sinica, 2018. doi: 10.1109/JAS.2018.7511273
    [32]
    E. Delgado, P. Falcon, M. D. Cacho, A. Barreiro, " Four channel teleoperation with time varying delays and disturbance observers,” Mathematical Problems in Engineering, pp. 1–11, 2015.
    [33]
    J. M. Azorin, O. Reinoso, R. Aracil, M. Ferre, " Generalized control method by state convergence of teleoperation systems with time delay,” Automatica, vol. 40, no. 9, pp. 1575–1582, 2004. doi: 10.1016/j.automatica.2004.04.001
    [34]
    J. M. Azorin, O. Reinoso, R. Aracil, M. Ferre, " Control of teleoperators with communication time delay through state convergence,” Journal of Robotic Systems, vol. 21, no. 4, pp. 167–182, 2004. doi: 10.1002/(ISSN)1097-4563
    [35]
    Azorín J.M., Aracil R., García N.M., Pérez C., " Bilateral control of teleoperation systems through state convergence,” Advanced Robotics, vol. 31, pp. 271-288, 2007.
    [36]
    Y. Yana, H. Changchun, G. Xinping, " Adaptive prescribed performance control for nonlinear networked teleoperation system under time delay,” in Proc. of IEEE Conf. on Chinese Control, pp. 5608–5613, Jul. 2014.
    [37]
    Y. Yuan, Y. Wang, H. Yang, C. Sun, " Adaptive force reflecting control for bilateral teleoperation system under asymmetric time-varying delays,” in Proc. 37th Chinese Control Conf., pp. 687–691, Jul. 2018.
    [38]
    K. H-Zaad, S. E. Salcudean, " Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation,” IEEE Transactions on Robotics and Automation, vol. 18, no. 1, pp. 108–114, 2002. doi: 10.1109/70.988981
    [39]
    A. Aziminejad, M. Tavakoli, R. V. Patel, M. Moallem, " Transparent time-delayed bilateral teleoperation using wave variables,” IEEE Transactions on Control Systems Technology, vol. 16, no. 3, pp. 548–555, 2008. doi: 10.1109/TCST.2007.908222
    [40]
    U. Farooq, J. Gu, M. E. El-Hawary, M. U. Asad, J. Luo, " An extended state convergence architecture for multilateral teleoperation systems,” IEEE Access, vol. 5, 2017.

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(15)

    Article Metrics

    Article views (2008) PDF downloads(46) Cited by()

    Highlights

    • A Lower Complexity State Convergence Architecture with Reduced Number of Communication Channels for Bilateral Communication.
    • Application of Method of State Convergence to Compute the Control Gains and Achieving the Desired Behavior also.
    • Simulation and Semi Real Time Experiments to Validate the Proposal.
    • Comparison with an Equal Complexity Error Force Compensated Scheme (Equal Number of Communication Channels).

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return