Adaptive/Robust Control for Time-Delay Teleoperation

• Published in: IEEE transactions on robotics Vol. 25; no. 1; pp. 196 - 205
• Main Authors: Shahdi, A., Sirouspour, S.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.02.2009; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptative systems; Adaptive control; Adaptive control systems; Applied sciences; Communication system control; Computer science; control theory; systems; Control system analysis; Control system synthesis; Control systems; Control theory. Systems; Controllers; Data communications; Design engineering; Dynamical systems; Exact sciences and technology; Experiments; H_{\infty } robust control; Master-slave; Mathematical models; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear dynamics; Programmable control; Robotics; Robots; Robust control; Robust stability; Stability; teleoperation; time delay; transparency; Uncertainty; Transparency; Robust stability; Coordination; H2 control; Remote operation; H infinite control; Non linear control; Delay control; Control synthesis; H; Master slave relationship; Delay system; time delay; Dynamical system; Adaptive control; Latency; Robust control; Uncertain system; teleoperation; Robustness; Delay time; Time constant; Lyapunov function
• ISSN: 1552-3098; 1941-0468
• DOI: 10.1109/TRO.2008.2010963

The control of time-delay bilateral teleoperation systems involves a delicate tradeoff between the conflicting requirements of transparency and robust stability. The control design is complicated by latency in data communication between the master and slave sites, as well as uncertainties in the dynamics of operator, master, slave, and environment. This paper proposes a systematic design procedure for improving teleoperation fidelity while maintaining its stability in the presence of dynamic uncertainty and a constant time delay. In a two-step control approach, first local Lyapunov-based adaptive/nonlinear controllers are applied to linearize the system dynamics and eliminate dependency on the master and slave parameters. Teleoperation coordination, subject to parametric uncertainty in the user and environment dynamics, is then achieved by formulating an I/O time-delay H infin robust control synthesis that is solved via its decomposition to the so-called adobe problems. The transparency and robust stability properties of the proposed method is examined via numerical analysis. Furthermore, the results are successfully validated in experiments.