This paper presents a simple structure design for bilateral teleoperation systems with uncertainties in time delay in communication channel. The goal is to achieve complete transparency and robust stability for the closed-loop system. For transparency, two local controllers are designed for the bilateral teleoperation systems. One local controller is responsible for tracking the master commands, and the other one is in charge of force tracking as well as guaranteeing the stability of the closed-loop system in the presence of uncertainties in time delay. The stability analysis will be shown analytically for two cases: (I) the possibly stability and (II) the intrinsically stability. Moreover, in Case II, in order to generate the proper inputs for the master controller in the presence of uncertainties in time delay, an adaptive finite impulse response (FIR) filter is designed to estimate the time delay. The advantages of the proposed method are threefold: (1) stability of the closed-loop system is guaranteed under some mild conditions, (2) the whole system is transparent, and (3) design of the local controllers is simple. Simulation results show good performance of the proposed method.
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July 2008
Technical Briefs
A Simple Structure for Bilateral Transparent Teleoperation Systems With Time Delay
Alireza Alfi,
Alireza Alfi
Department of Electrical Engineering,
a̱alfi@iust.ac.ir
Iran University of Science and Technology
, Tehran 16846-13114, Iran
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Mohammad Farrokhi
Mohammad Farrokhi
Department of Electrical Engineering, and Centre of Excellence for Power System Automation and Operation,
farrokhi@iust.ac.ir
Iran University of Science and Technology
, Tehran 16846-13114, Iran
Search for other works by this author on:
Alireza Alfi
Department of Electrical Engineering,
Iran University of Science and Technology
, Tehran 16846-13114, Irana̱alfi@iust.ac.ir
Mohammad Farrokhi
Department of Electrical Engineering, and Centre of Excellence for Power System Automation and Operation,
Iran University of Science and Technology
, Tehran 16846-13114, Iranfarrokhi@iust.ac.ir
J. Dyn. Sys., Meas., Control. Jul 2008, 130(4): 044502 (9 pages)
Published Online: June 6, 2008
Article history
Received:
January 27, 2007
Revised:
January 27, 2008
Published:
June 6, 2008
Citation
Alfi, A., and Farrokhi, M. (June 6, 2008). "A Simple Structure for Bilateral Transparent Teleoperation Systems With Time Delay." ASME. J. Dyn. Sys., Meas., Control. July 2008; 130(4): 044502. https://doi.org/10.1115/1.2936854
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