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research-article

A LYAPUNOV STABLE CONTROLLER FOR BILATERAL HAPTIC TELEOPERATION OF SINGLE-ROD HYDRAULIC ACTUATORS SUBJECTED TO BASE DISTURBANCE

[+] Author and Article Information
Vikram Banthia

Department of Mechanical Engineering, University of Manitoba, Winnipeg, Canada R3T 5V6
umbanthv@myumanitoba.ca

Ali Maddahi

Department of Mechanical Engineering, University of Manitoba, Winnipeg, Canada R3T 5V6
maddahia@myumanitoba.ca

Kourosh Zareinia

Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada M5B 2K3
kourosh.zareinia@ryerson.ca

Subramaniam Balakrishnan

Department of Mechanical Engineering, University of Manitoba, Winnipeg, Canada R3T 5V6
subramaniam.balakrishnan@umanitoba.ca

Nariman Sepehri

Department of Mechanical Engineering, University of Manitoba, Winnipeg, Canada R3T 5V6
nariman.sepehri@umanitoba.ca

1Corresponding author.

ASME doi:10.1115/1.4041851 History: Received March 21, 2018; Revised October 20, 2018

Abstract

In this paper, a control scheme is developed and evaluated for stable bilateral haptic teleoperation of a single-rod hydraulic actuator subjected to base disturbance. The proposed controller, based on Lyapunov stability technique, is capable of reducing position errors at master and slave sides, and provides a feel of the contact force between the actuator and the task environment to the operator without a need for direct measurement. The controller requires only the measurements of the actuator line pressures and displacements of the master and slave. The system stability is insensitive to the uncertainties of the physical parameters and of the measurement of the base point motion. Stability of the proposed controller incorporating hydraulic nonlinearities and operator dynamics with an estimated upper value for the base disturbance is analytically proven. Simulation studies validate that the proposed control system is stable while interacting with a task environment. Experimental results demonstrate the effectiveness of control scheme in maintaining stability, while having good position tracking by the hydraulic actuator as well as providing a haptic feel to the operator without direct measurement of interaction force, while the hydraulic actuator is subjected to base disturbance.

Copyright (c) 2018 by ASME
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