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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:
author
organization
publishing date
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
language
English
LU publication?
yes
id
3576b8fe-ad56-4a94-a80f-3d0b4b820a82 (old id 5053282)
date added to LUP
2015-02-24 09:25:21
date last changed
2017-11-05 03:19:52
@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},
  keyword      = {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},
  volume       = {88},
  year         = {2015},
}