Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

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• 作者：Da Sun ; Fazel Naghdy ; Haiping Du
• 关键词：Bilateral teleoperation ; Prescribed performance control (PPC) time domain passivity approach (TDPA)  ; Wave variable ; Passivity ; Time ; varying delay
• 刊名：Nonlinear Dynamics
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：87
• 期：2
• 页码：1253-1270
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Vibration, Dynamical Systems, Control; Classical Mechanics; Mechanical Engineering; Automotive Engineering;
• 出版者：Springer Netherlands
• ISSN：1573-269X
• 卷排序：87

文摘

A novel approach applying the extended prescribed performance control (PPC) and the wave-based time domain passivity approach (wave-based TDPA) to teleoperation systems is proposed. With the extended PPC, a teleoperation system can synchronize position, velocity and force. Moreover, by combining with the extended wave-based TDPA, the overall system’s passivity is guaranteed in the presence of arbitrary time delays. The system’s stability and performance are analyzed by using Lyapunov functions. The method is validated through experimental work based on a 3-DOF bilateral teleoperation system. The experimental results show that the proposed control algorithm can robustly guarantee the master–slave system’s passivity and simultaneously provide high tracking performance of position, velocity and measured force signals.