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Nonlinear composite bilateral control framework for n-DOF teleoperation systems with disturbances

journal contribution
posted on 21.09.2018, 13:33 by Zhenhua Zhao, Jun Yang, Cunjia Liu, Wen-Hua Chen
This paper proposes a new nonlinear composite bilateral control framework for n-degree-of-freedom (n-DOF) teleoperation systems with external disturbances. Different with the existing methods which usually regard the dynamics of the master and slave robots as linear impedance models, the proposed control framework fully considers the nonlinear dynamics of the n-DOF teleoperation systems. Central to the proposed framework is the utilization of nonlinear disturbance observers for estimating the disturbances in master and slave robot systems. The nonlinear composite bilateral controller is constructed by incorporating the disturbance estimations into the nonlinear feedback linearization controller. The proposed control method guarantees satisfactory position tracking performance and desired remote force haptic simultaneously for the n-DOF teleoperation systems with external disturbances. The effectiveness of the proposed control framework is validated by its applications on 2-DOF teleoperation systems.

Funding

This work was supported by National Natural Science Foundation of China (Grant Nos. 61473080, 61573099, 61633003, 61750110525), Fundamental Research Funds for Central Universities (Grant No. 2242016R30011), Graduate Innovation Program of Jiangsu Province (Grant No. KYLX15-0114), Scientific Research Foundation of Graduate School of Southeast University (Grant No. YBJJ1561) and Open Project Program of Ministry of Education Key Laboratory of Measurement and Control of CSE (Grant No. MCCSE2017A01). Zhenhua ZHAO would also like to thank Chinese Scholarship Council and Newton Fund by British Council for supporting his study in the UK.

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

Science China Information Sciences

Volume

61

Issue

7

Citation

ZHAO, Z. ... et al, 2018. Nonlinear composite bilateral control framework for n-DOF teleoperation systems with disturbances. Science China Information Sciences, 61 (7), 70221.

Publisher

© Science China Press and Springer

Version

VoR (Version of Record)

Publisher statement

This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/

Acceptance date

07/02/2018

Publication date

2018

Notes

This paper is closed access.

ISSN

1674-733X

eISSN

1869-1919

Language

en

Exports