Acceleration Feedback Control for Nonlinear Teleoperation Systems with Time Delays
Li, Yuling LU ; Johansson, Rolf LU
and Yin, Yixin
(2015)
In International Journal of Control
88(3).
p.507-516
- Abstract
- A procedure for acceleration feedback control of the delayed nonlinear teleoperation system is proposed. The acceleration feedback is applied to the master controller, while in the slave side the position error plus nonlinear damping controller is used to guarantee the input-to-state stability (ISS) of the controlled system. The Lyapunov-Krasovskii methodology is applied to analyse the ISS of the closed-loop system, and hence the passivity assumption for human operators and the environment is not required. The stability criterion is formulated in the form of linear matrix inequalities. The behaviour of the resulting teleoperation system is illustrated in simulations, while the simulation results show that the acceleration feedback... (More)
- A procedure for acceleration feedback control of the delayed nonlinear teleoperation system is proposed. The acceleration feedback is applied to the master controller, while in the slave side the position error plus nonlinear damping controller is used to guarantee the input-to-state stability (ISS) of the controlled system. The Lyapunov-Krasovskii methodology is applied to analyse the ISS of the closed-loop system, and hence the passivity assumption for human operators and the environment is not required. The stability criterion is formulated in the form of linear matrix inequalities. The behaviour of the resulting teleoperation system is illustrated in simulations, while the simulation results show that the acceleration feedback controller not only preserves good position tracking performance but also eludes contact instability. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/5053282
- author
- Li, Yuling
LU
; Johansson, Rolf
LU
and Yin, Yixin
- organization
- publishing date
- 2015
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- acceleration feedback, ISS, teleoperation systems, delays
- in
- International Journal of Control
- volume
- 88
- issue
- 3
- pages
- 507 - 516
- publisher
- Taylor & Francis
- external identifiers
-
- wos:000348527500007
- scopus:84922012481
- ISSN
- 0020-7179
- DOI
- 10.1080/00207179.2014.963829
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- 3576b8fe-ad56-4a94-a80f-3d0b4b820a82 (old id 5053282)
- date added to LUP
- 2016-04-01 10:51:12
- date last changed
- 2023-09-04 12:15:11
@article{3576b8fe-ad56-4a94-a80f-3d0b4b820a82,
abstract = {{A procedure for acceleration feedback control of the delayed nonlinear teleoperation system is proposed. The acceleration feedback is applied to the master controller, while in the slave side the position error plus nonlinear damping controller is used to guarantee the input-to-state stability (ISS) of the controlled system. The Lyapunov-Krasovskii methodology is applied to analyse the ISS of the closed-loop system, and hence the passivity assumption for human operators and the environment is not required. The stability criterion is formulated in the form of linear matrix inequalities. The behaviour of the resulting teleoperation system is illustrated in simulations, while the simulation results show that the acceleration feedback controller not only preserves good position tracking performance but also eludes contact instability.}},
author = {{Li, Yuling and Johansson, Rolf and Yin, Yixin}},
issn = {{0020-7179}},
keywords = {{acceleration feedback; ISS; teleoperation systems; delays}},
language = {{eng}},
number = {{3}},
pages = {{507--516}},
publisher = {{Taylor & Francis}},
series = {{International Journal of Control}},
title = {{Acceleration Feedback Control for Nonlinear Teleoperation Systems with Time Delays}},
url = {{http://dx.doi.org/10.1080/00207179.2014.963829}},
doi = {{10.1080/00207179.2014.963829}},
volume = {{88}},
year = {{2015}},
}