Passivity-based control for bilateral teleoperation: A tutorial

被引：315

作者：

Nuno, Emmanuel ^{[1
]}

Basanez, Luis ^{[2
]}

Ortega, Romeo ^{[3
]}

机构：

[1] Univ Guadalajara, Dept Comp Sci, Guadalajara 44430, Jalisco, Mexico

[2] Tech Univ Catalonia, Inst Ind & Control Engn, Barcelona 08028, Spain

[3] SUPELEC, Signaux & Syst Lab, F-91190 Gif Sur Yvette, France

来源：

AUTOMATICA | 2011年 / 47卷 / 03期

关键词：

Telerobotics; Robot control; Time delay; Passivity control; FORCE-REFLECTING TELEOPERATION; TIME-VARYING DELAY; COMMUNICATION DELAY; WAVE REFLECTIONS; CONTROL SCHEMES; SYSTEMS; STABILITY; SYNCHRONIZATION; STABILIZATION; INTERNET;

D O I：

10.1016/j.automatica.2011.01.004

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

080201 [机械制造及其自动化];

摘要：

This tutorial revisits several of the most recent passivity-based controllers for nonlinear bilateral teleoperators with guaranteed stability properties. These schemes, which include scattering-based, damping injection and adaptive controllers, ensure asymptotic stability in multiple situations that range from constant to variable time-delays, with or without scattering transformation and with or without position tracking capabilities. Although all controllers exploit the basic property of passivity of the teleoperators, they have been developed invoking various analysis and design tools, which complicates their comparison and relative performance assessment. The objective of this paper is to present a unified theoretical framework based on a general Lyapunov-like function-that, upon slight modification, allows to analyze the stability of all the schemes. (c) 2011 Elsevier Ltd. All rights reserved.

引用

页码：485 / 495

页数：11

共 68 条

[1]

BILATERAL CONTROL OF TELEOPERATORS WITH TIME-DELAY [J].

ANDERSON, RJ ;

SPONG, MW .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1989, 34 (05) :494-501

[2]

ASYMPTOTIC STABILITY FOR FORCE REFLECTING TELEOPERATORS WITH TIME-DELAY [J].

ANDERSON, RJ ;

SPONG, MW .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1992, 11 (02) :135-149

[3]

[Anonymous], J DYNAMIC SYSTEMS ME

[4]

Control schemes for teleoperation with time delay: A comparative study [J].

Arcara, P ;

Melchiorri, C .

ROBOTICS AND AUTONOMOUS SYSTEMS, 2002, 38 (01) :49-64

[5]

ARCARA P, 2004, ADV CONTROL ARTICULA, P39

[6]

Stability and performance in delayed bilateral teleoperation: Theory and experiments [J].

Aziminejad, A. ;

Tavakoli, M. ;

Patel, R. V. ;

Moallem, M. .

CONTROL ENGINEERING PRACTICE, 2008, 16 (11) :1329-1343

[7]

Generalized control method by state convergence for teleoperation systems with time delay [J].

Azorin, JM ;

Reinoso, O ;

Aracil, R ;

Ferre, M .

AUTOMATICA, 2004, 40 (09) :1575-1582

[8]

Berestesky P., 2004, Proceedings of the 2004 IEEE International Conference on Control Applications (IEEE Cat. No.04CH37596), P456, DOI 10.1109/CCA.2004.1387253

[9]

Adaptive coordination control of bilateral teleoperators with time delay [J].

Chopra, N ;

Spong, MW ;

Lozano, R .

2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5, 2004, :4540-4547

[10]

Chopra N, 2003, P AMER CONTR CONF, P155

← 1 2 3 4 5 6 7 →