Passivity-based control framework for task-space bilateral teleoperation with parametric uncertainty over unreliable networks

Hsin Chen Hu, Yen Chen Liu

Research output: Contribution to journalArticlepeer-review

13 Citations (Scopus)

Abstract

Bilateral teleoperation systems developed in joint-space or in task-space without taking into account parameter uncertainties and unreliable communication have limited practical applications. In order to ensure stability, improve tracking performance, and enhance applicability, a novel task-space control framework for bilateral teleoperation with kinematic/dynamic uncertainties and time delays/packet losses is studied. In this paper, we have demonstrated that with the proposed control algorithms, the teleoperation system is stable and position tracking is guaranteed when the system is subjected to parametric uncertainties and communication delays. With the transformation of scattering variables, a packet modulation, called Passivity-Based Packet Modulation (PBPM), is proposed to cope with data losses, incurred in transmission of data over unreliable network. Moreover, numerical simulations and experiments are also presented to validate the efficiency of the developed control framework for task-space bilateral teleoperation.

Original languageEnglish
Pages (from-to)187-199
Number of pages13
JournalISA Transactions
Volume70
DOIs
Publication statusPublished - 2017 Sep

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Instrumentation
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics

Fingerprint

Dive into the research topics of 'Passivity-based control framework for task-space bilateral teleoperation with parametric uncertainty over unreliable networks'. Together they form a unique fingerprint.

Cite this