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Bilateral shared autonomous systems with passive and nonpassive input forces under time varying delay.

Shafiqul Islam1, Peter X Liu2, Abdulmotaleb El Saddik3

  • 1University of Ottawa, Ottawa, Canada; Carleton University, Ottawa, Canada; KUSTAR, Abu Dhabi, UAE.

ISA Transactions
|September 17, 2014
PubMed
Summary

This study ensures stability and tracking control for bilateral shared autonomous systems despite interaction forces and data delays. The novel Lyapunov-Krasovskii functional method guarantees precise control of master and slave manipulators in real-time teleoperation.

Keywords:
Lyapunov–Krasovskii functionalPassive and nonpassive interaction forceShared autonomyTime varying delay

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Mechatronics

Background:

  • Bilateral shared autonomous systems face challenges with passive/nonpassive interaction forces and data transmission delays.
  • Accurate control of master and slave manipulators is crucial for effective teleoperation.

Purpose of the Study:

  • To develop a robust stability and tracking control strategy for bilateral shared autonomous systems.
  • To address the complexities introduced by interaction forces and time-varying data transmission delays.

Main Methods:

  • Utilized a novel Lyapunov-Krasovskii functional to analyze system stability.
  • Incorporated delayed position and position-velocity signals, considering both known and unknown manipulator dynamics.
  • Developed conditions for symmetrical and unsymmetrical time-varying data transmission delays.

Main Results:

  • Established stability and tracking conditions for coupled master-slave systems under various delay scenarios.
  • Enabled estimation of control design parameters to minimize position, velocity, and synchronizing errors.
  • Validated the proposed control design through evaluation results for real-time teleoperation.

Conclusions:

  • The proposed control design effectively ensures stability and tracking in bilateral shared autonomous systems.
  • The method is robust to interaction forces and time-varying data transmission delays.
  • Demonstrated applicability for real-time teleoperation, improving system performance and reliability.