Position Measurement Based Slave Torque Feedback Control for Teleoperation Systems With Time-Varying Communication Delays

作     者：Xian Yang Jing Yan Changchun Hua Xinping Guan Xian Yang;Jing Yan;Changchun Hua;Xinping Guan

作者机构：the Institute of Information Science and EngineeringYanshan University the Key Laboratory for Computer Virtual Technology and System Integration of Hebei ProvinceQinhuangdao 066004China IEEE the Institute of Electrical EngineeringYanshan UniversityQinhuangdao 066004China the Department of AutomationShanghai Jiao Tong UniversityShanghai 200240China 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2023年第10卷第2期

页      面：388-402页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：supported in part by the National Science Foundation(NSF)of China(61973263) the National Natural Science Foundation of China Outstanding Youth Fund(62222314) Youth Talent Program of Hebei(BJ2020031,BJ2019047) the Excellent Youth Project for NSF of Hebei Province(F2021203056) the Distinguished Young Foundation of Hebei Province(F2022203001) the Central Guidance Local Foundation of Hebei Province(226Z3201G) the Three-Three-Three Foundation of Hebei Province(C20221019) the Innovation Capability Improvement Plan Project of Hebei Province(22567626H) 

主　　题：Asymptotic stability bilateral teleoperation time-varying delay velocity observer 

摘      要：Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects *** the tracking control of teleoperation systems,velocity measurements are necessary to provide feedback ***,due to hardware technology and cost constraints,the velocity measurements are not always *** addition,the time-varying communication delay makes it challenging to achieve tracking *** paper provides a solution to the issue of real-time tracking for teleoperation systems,subjected to unavailable velocity signals and time-varying communication *** order to estimate the velocity information,immersion and invariance(I&I)technique is employed to develop an exponential stability velocity *** the proposed velocity observer,a linear relationship between position and observation state is constructed,through which the need of solving partial differential and certain integral equations can be ***,the mean value theorem is exploited to separate the observation error terms,and hence,all functions in our observer can be analytically *** the estimated velocity information,a slave-torque feedback control law is presented.A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking *** particular,the relationship between the controller design parameters and the allowable maximum delay values is ***,simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.