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Design and Implementation of Robust-Fixed Structure Controller for Telerobotic Systems

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Abstract

The controller design for bilateral teleoperation systems involves a delicate trade-off between performance and stability. To achieve high performance, high order robust controllers may not be feasible for real-time implementation because of hardware and computational limitations. The main purpose of this paper is to achieve stability and transparency in the presence of time delay in communication channel as well as model uncertainty. To address these problems, a novel robust fixed-structure controller is proposed for uncertain bilateral teleoperation systems. Here, the traditional conventional Proportional-Integral-Derivative (PID) controller is employed to achieve the requirements. The simplicity and straightforward design are the significant advantageous of the proposed method. Robust stability analysis of the proposed technique is also provided. Results demonstrate that the structure is effective in providing stability and transparency in teleoperation systems.

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Authors and Affiliations

  1. Faculty of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood, 36199-95161, Iran

    Alireza Alfi

  2. Real-Time and Robotics system Laboratory, Faculty of Electrical Engineering, Amirkabir University of Technology, Hafez Avenue, Tehran, 15914, Iran

    Ali Bakhshi & Heidar Ali Talebi

  3. Electrical and Computer Engineering Department, The University of British Columbia, 2385 East Mall, Vancouver, BC, V6T 1Z4, Canada

    Mahdi Yousefi

Authors
  1. Alireza Alfi
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  2. Ali Bakhshi
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  3. Mahdi Yousefi
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  4. Heidar Ali Talebi
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Correspondence to Alireza Alfi.

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Alfi, A., Bakhshi, A., Yousefi, M. et al. Design and Implementation of Robust-Fixed Structure Controller for Telerobotic Systems. J Intell Robot Syst 83, 253–269 (2016). https://doi.org/10.1007/s10846-016-0335-2

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  • DOI: https://doi.org/10.1007/s10846-016-0335-2

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