DISTURBANCE-OBSERVER-SUPPORTED THREE-CHANNEL STATE CONVERGENCE ARCHITECTURE FOR BILATERAL TELEOPERATION SYSTEMS

Based on composite variables, three-channel state convergence is a novel architecture for the bilateral control of teleoperation systems modelled on state space. Although simple to design and easy to implement, this bilateral control algorithm relies on model parame- ters. To lower this dependence,...

Full description

Saved in:
Bibliographic Details
Published in:International journal of robotics & automation 2021-01, Vol.36 (1)
Main Authors: Asad, Muhammad U, Farooq, Umar, Gu, Jason, Liu, Rong, Abbas, Ghulam, Balas, Valentina E
Format: Article
Language:English
Subjects:
Algorithms
Control algorithms
Control theory
Convergence
Disturbance observers
State observers
Teleoperators
Uncertainty
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Based on composite variables, three-channel state convergence is a novel architecture for the bilateral control of teleoperation systems modelled on state space. Although simple to design and easy to implement, this bilateral control algorithm relies on model parame- ters. To lower this dependence, this article proposes a disturbance- observer-supported three-channel state convergence architecture. At first, extended state observers are used for estimating position and velocity states of master and slave systems along with their lumped uncertainties. These position and velocity estimates are then fused to form composite variables which are transmitted along with the operator's force. With the knowledge of composite variables and the estimates of uncertainties, bilateral control laws are developed for the master and slave systems by following the method of state con- vergence. To validate the proposal, simulations as well as semi-real- time experiments are performed in MATLAB/Simulink environment by considering a single degree-of-freedom time-delayed teleoperation system.
ISSN:0826-8185
1925-7090