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Technical Briefs

A Simple Structure for Bilateral Transparent Teleoperation Systems With Time Delay

[+] Author and Article Information
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 130(4), 044502 (Jun 06, 2008) (9 pages) doi:10.1115/1.2936854 History: Received January 27, 2007; Revised January 27, 2008; Published June 06, 2008

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.

Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 1

The proposed control scheme (the first form)

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Figure 2

The second form of the proposed control scheme

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Figure 3

Equivalent control structure for Fig. 2

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Figure 4

The equivalent structure of M̂(s) in Fig. 3

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Figure 5

New control scheme (the third form)

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Figure 6

The Smith predictor control method

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Figure 7

Structure of the master controller

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Figure 8

The desired control-loop configuration

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Figure 9

Time delay in communication channel

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Figure 10

Bode plot for checking the stability condition in Eq. 7

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Figure 11

Transparency response for step input

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Figure 12

Transparency response for sinusoidal input

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Figure 13

Time delay in communication channel (Case I)

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Figure 14

Bode plot for checking the stability condition in Eq. 41 (Case I)

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Figure 15

Transparency response for step input (Case I)

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Figure 16

Transparency response for sinusoidal input (Case I)

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Figure 17

Time delay in communication channel (Case II)

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Figure 18

Bode plot for checking the stability condition in Eq. 35 (Case II)

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Figure 19

Transparency response for step input (Case II)

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Figure 20

Transparency response for sinusoidal input (Case II)

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Figure 21

Unstable teleoperation system for small time delay in communication channel when the stability condition in Eq. 41 does not hold: (a) Bode plot and (b) the step response

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