Passivity and RISE based robust control for bilateral teleoperation system with communication delay

Author

Kawai, Yusuke ; Namerikawa, Toru

Author_Institution

Dept. of Electr. Eng., Ishikawa Nat. Coll. of Technol., Tsubata, Japan

fYear

2013

fDate

28-30 Aug. 2013

Firstpage

270

Lastpage

275

Abstract

In this paper, a method for passivity- and robust integral of the sign of the error (RISE)-based control of a nonlinear teleoperation system with communication delays is proposed. This control strategy can accurately achieve coordinate positioning under conditions with viscous friction and unmodeled effects compensation errors, and its stability condition is independent of robot model parameter uncertainties and time delay. Using passivity-based stability analysis, the stability and tracking performance of this system are demonstrated, and experimental trials are performed to verify its effectiveness.

Keywords

delay systems; friction; nonlinear control systems; position control; robust control; telerobotics; uncertain systems; RISE based robust control; bilateral teleoperation system; communication delay; coordinate positioning; nonlinear teleoperation system; passivity-based control; passivity-based stability analysis; robot model parameter uncertainties; robust integral of the sign of the error-based control; stability condition; unmodeled effects compensation errors; viscous friction; Control systems; Delay effects; Delays; Force; Robots; Robustness; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications (CCA), 2013 IEEE International Conference on

Conference_Location

Hyderabad

ISSN

1085-1992

Type

conf

DOI

10.1109/CCA.2013.6662770

Filename

6662770