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.
Similar content being viewed by others
Explore related subjects
Find the latest articles, discoveries, and news in related topics.References
Melchiorri, C., Eusebi, A.: Telemanipulation: system aspects and control issue. In: Proc. of the Modeling and Control of Mechanisms and Robots, World Scientific, Singapore, pp 149–183 (1996)
Ryu, J.H., Kim, J.H.: Stable and high performance telerobotic with time domain passivity control: reference energy following scheme. In: Proc. of IEEE Conf. on Control Applications, pp 782–787 (2005)
Smith, A., Hashtrudi-Zaad, K.: Smith predictor type control architectures for time delayed teleoperation. Int. J. Robot. Res. 25, 797–818 (2006)
Shokri-Ghaleh, H., Alfi, A.: Optimal synchronization of teleoperation systems via Cuckoo optimization algorithm. Nonlinear Dyn. 78(4), 2359–2376 (2014)
Lawrence, D.A.: Stability and transparency in bilateral teleoperation. IEEE Trans. Robot. Autom. 9, 624–637 (1993)
Yokokohji, Y., Yoshikawa, T.: Bilateral control of master-slave manipulators for ideal kinesthetic coupling: formulation and experiment. IEEE Trans. Robot. Autom. 10(5), 605–620 (1994)
Lee, D., Spong, M.W.: Passive bilateral teleoperation with constant time delay. IEEE Trans. Robot. 22(2), 269–281 (2006)
Ching, H., Book, W.J.: Internet-based bilateral teleoperation based on wave variable with adaptive predictor and direct drift control. J. Dyn. Syst., Meas., Control 128, 86–93 (2006)
Kim, B.Y., Ahn, H.S.: A design of bilateral teleoperation systems using composite adaptive controller. Control Eng. Pract. 21(12), 1641–1652 (2013)
Alfi, A., Farrokhi, M.: A simple structure for bilateral transparent teleoperation systems with time delay. ASME J. Dyn. Syst. Meas. Control 130(4), 044502 (2008). doi:10.1115/1.2936854
Alfi, A., Farrokhi, M.: Force reflecting bilateral control of master-slave systems in teleoperation. J. Intel. Robot. Syst. 52(2), 209–232 (2008)
Alfi, A., Khosravi, A., Lari, A.: Swarm-based structure-specified controller design for bilateral transparent teleoperation systems via µ synthesis. IMA J. Math. Control Inf. 31, 111–136 (2014)
Moreau, R., Pham, M.T., Tavakoli, M., Le, M.Q., Redarce, T.: sSliding-mode bilateral teleoperation control design for master–slave pneumatic servo systems. Control Eng. Pract. 20(6), 584–597 (2012)
Park, S., Seo, C., Kim, J.P., Ryu, J.: Robustly stable rate-mode bilateral teleoperation using an energy-bounding approach. Mechatronics 21(1), 176–184 (2011)
Yang, X., Hua, C., Yan, J., Guan, X.: New stability criteria for networked teleoperation system. Inf. Sci. 233(1), 244–254 (2013)
Hokayem, P.F., Spong, M.W.: Bilateral teleoperation: An historical survey. Automatica 42(12), 2035–2057 (2006)
Gupta, G.S., Mukhopadhyay, S.C., Messom, C.H., Demidenko, S.N.: Master-slave control of a teleoperated anthropomorphic robotic arm with gripping force sensing. IEEE Trans. Instrum. Meas. 55 (6), 2136–2145 (2006)
Al-Mouhamed, M.A., Nazeeruddin, M., Merah, N.: Design and instrumentation of force feedback in telerobotics. IEEE Trans. Instrum. Meas. 58(6), 1949–1957 (2009)
Salcudean, S.E., Zhu, M., Zhu, W.H., Hashtrudi-Zaad, K.: Transparent bilateral teleoperation under position and rate control. Int. J. Robot. Res. 19, 1185–1202 (2000)
Ni, L., Wang, D.W.L.: A gain-switching control scheme for position-error-based force reflecting teleoperation. In: proc. of IEEE Sym. Haptic Interfaces for Virtual and Teleoperator Systems, pp 239–246 (2002)
Kim, J., Chang, P.R., Park, H.S.: Transparent teleoperation using two-channel control architectures. In: proc. of IEEE/RSJ Int. Conf. Intelligent and Robots and System, pp 1953–1960 (2005)
Haddadi, A., Hashtrudi-Zaad, K.: A new robust stability analysis and design tool for bilateral teleoperation control systems. In: proc. of IEEE Int. Conf. Robotics and Automation, pp 663–670 (2008)
García-Valdovinos, L.G., Parra-Vega, V., Artega, M.A.: Observer-based sliding mode impedance control of bilateral teleoperation under constant unknown time delay. Robot. Auton. Syst. 55(8), 609–617 (2007)
Arcara, P., Melchiorri, C.: Control schemes for teleoperation with time delay: a comparative study. Robot. Auton. Syst. 38, 49–64 (2002)
Aracil, R., Azorin, J.M., Ferre, M., Pena, C.: Bilateral control by state convergence based on transparency for systems with time delay. Robot. Auton. Syst. 61, 86–94 (2013)
Namerikawa, T., Kawada, H.: Symmetric impedance matched teleoperation with position tracking. In: Proc. IEEE Conf. Decision Control, pp 4496–4501 (2006)
Azorín, J.M., Reinoso, O., Aracil, R., Ferre, M.: Control of teleoperators with communication time delay through state convergence. Robot. Syst. 21, 167–182 (2004)
Ueda, J., Yoshikawa, T.: Force-reflecting bilateral teleoperation with time delay by signal filtering. IEEE Trans. Robot. Autom. 20(3), 613–619 (2004)
Nuno, E., Ortega, R., Barabanov, N., Basanez, L.: A globally stable PD controller for bilateral teleoperators. IEEE Trans. Robot. 24(3), 753–758 (2008)
Hosseini-Suny, K., Momeni, H., Janabi-Sharifi, F.: A modified adaptive controller design for teleoperation systems. Robot. Auton. Syst. 58, 676–683 (2010)
Anderson, R.J., Spong, M.W.: Bilateral control of teleoperators with time delay. IEEE Trans. Automatic Control 34(5), 494–501 (1989)
Anderson, R.J., Spong, M.W.: Asymptotic stability of force reflecting teleoperators with time delay. Int. J. Robot. Res. 11(2), 135–149 (1992)
Kosuge, K., Murayama, H., Takeo, K.: Bilateral feedback control of telemanipulators via computer network. In: Proc. IEEE/RSJ Int. Conf. Intelligent Robots Syst., pp 1380–1385 (1996)
Park, J.H., Cho, H.C.: Sliding mode control of bilateral teleoperation systems with force-reflection on the Internet. In: Proc. IEEE/RSJ Int. Conf. Intelligent Robots Systems, pp 1187–1192 (2000)
Munir, S., Book, W.J.: Internet-based teleoperation using wave variables with prediction. IEEE/ASME Trans. Mechatron. 7(2), 124–133 (2002)
Niemeyer, G., Slotine, J.J.E.: Telemanipulation with time delays. Int. J. Robot. Res. 23(9), 873–890 (2004)
He, X., Chen, Y.: Six-degree-of-freedom haptic rendering in virtual teleoperation. IEEE Trans. Instrum. Meas. 57(9), 1866–1875 (2008)
Alise, M., Roberts, R.G., Repperger, D.W., Moore, C.A., Tosunoglu, S.: On extending the wave variable method to multiple-DOF teleoperation systems. IEEE/ASME Trans. Mechatron. 14(1), 55–63 (2009)
Yongqiang, Y., Liu, P.X.: Improving haptic feedback fidelity in wave variable-based teleoperation orientated to telemedical applications. IEEE Trans. Instrum. Meas. 58(8), 2847–2855 (2009)
Hua, C.C., Yang, Y., Guan, X.: Neural network-based adaptive position tracking control for bilateral teleoperation under constant time delay. Neurocomputing 113, 204–212 (2013)
Ghoushkhanehee, S.V., Alfi, A.: Model predictive control of transparent bilateral teleoperation systems under uncertain communication time-delay, Proc. 9th Asian Control Conf., 1–6 (2013)
Khosravi, A., Alfi, A., Roshandel, A.: Delay-dependent stability for transparent bilateral teleoperation system: an LMI approach. J. AI and Data Mining 1(2), 75–87 (2013)
Alfi, A., Shokrzadeh, A., Asadi, M.: Reliability analysis of H-infinity control for a container ship in way-point tracking control. Appl. Ocean Res. 52, 309–316 (2015)
Xu, B., Yang, C., Pan, Y.: Global neural dynamic surface tracking control of strict-feedback systems with application to hypersonic flight vehicle IEEE Trans. Neural Netw. Learn. Syst., doi:10.1109/TNNLS.2015.2456972
Xu, B., Shi, Z., Yang, C., Sun, F.: Composite neural dynamic surface control of a class of uncertain nonlinear systems in strict-feedback form. IEEE Trans. Cybern. 44(12), 2626–2634 (2014)
Xu, B., Yang, C., Shi, Z.: Reinforcement learning output feedback NN control using deterministic learning technique. IEEE Trans. Neural Netw. Learn. Syst. 25(3), 635–641 (2014)
Hu, Z., Saculdean, S.E., Loewen, P.D.: Robust controller design for teleoperation systems. In: Proc. IEEE Int. Conf. Syst. Man Cybern., vol. 3, pp 2127–2132 (1995)
Gary, M.H., Leung, Francis, B.A., Apkarian, J.: Bilateral controller for teleoperators with time delay via µ-synthesis. IEEE Trans. Robot. Automat. 11(1), 105–116 (1995)
Yan, J., Saculdean, S.E.: Teleoperation controller design using H8 optimization with application to motion scaling. IEEE Trans. Contr. Sys. Tec. 4(3), 244–258 (1996)
Boukhnifer, M., Ferreira, A.: Scaled teleleoperation controller design for micromanipulation over internet. In: Proc. IEEE Int. Conf. Syst. Autom., New-Orleans, pp 4577–4583 (2004)
Boukhnifer, M., Ferreira, A.: H2 optimal controller design for micro-teleoperation with delay (2004)
Shahdi, A., Sirouspour, S.: Adaptive/robust control for time-delay teleoperation. IEEE Trans. Robot. 25(1), 196–205 (2009)
Sha-Sadeghi, M., Momeni, H.R., Amirifar, R.: H8 and L1 control of a teleoperation system via LMIs. Appl. Math. Comput. 206, 669–677 (2008)
Smith, O.: Closer control of loops with dead time. Chem. Eng. Prog. 53(5), 217–219 (1957)
Yamanaka, K., Shimemura, E.: Effects of mismatched Smith controller on stability systems with time-delay. Automatica 23(6), 787–791 (1987)
Veeramachaneni, S.R., Watkins, J.M., Emami, T.: Robust stabilization of time-delay systems using PID controller with a Smith predictor. In: Proc. Int. Conf. Control Appl., pp 796–801 (2013)
Skogestad, S., Postlethwaite, I.: Multivariable feedback control: analysis and design, Second. John Wiley & Sons (2001)
Zhou, K., Doyle, J.C.: Essentials of Robust Control. Prentice Hall (1998)
Author information
Authors and Affiliations
Corresponding author
Electronic supplementary material
Below is the link to the electronic supplementary material.
Rights and permissions
About this article
Cite this article
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
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10846-016-0335-2