Control of a bilateral teleoperation system in the presence of varying time delay, model uncertainty and actuator faults
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Control of a bilateral teleoperation system in the presence of varying time delay, model uncertainty and actuator faults Robab Ebrahimi Bavili1
· Ali Farajzadeh Bavil2 · Ahmad Akbari1
Received: 6 May 2020 / Revised: 15 October 2020 / Accepted: 30 October 2020 © Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract This paper presents a novel scheme for robust controller design for a bilateral teleoperation system in the presence of asymmetric varying time-delay in the communication channel, parametric uncertainty in nonlinear model of manipulators, and actuator faults. First, a passive Fault Tolerant Control law is proposed for nominal system. Then, by using the Lyapunov–Krasovskii theorem, sufficient stability conditions of real and faulty system are obtained to tune the controller parameters. The main contribution of the proposed method is that it can assure the stability, position and force tracking in the presence of bias fault and partial failure in actuators of nonlinear teleoperation system, simultaneously. Also, the developed controller is fixed-structure which can be implemented easily in practice, without any need to identification of system parameters or fault estimation. Simulation and experimental results are presented to demonstrate the effectiveness of the proposed approach. Keywords Bilateral teleoperation system · Fault tolerant control · Parametric uncertainty · Actuator fault · Lyapunov–Krasovskii theorem
1 Introduction A bilateral teleoperation system is composed of a local and a remote robot, which are connected via a communication medium. In this system, the remote robot tracks the motion of the local one, manipulated by a human operator, and returns back reaction forces as input torques of the local manipulator to give the operator a feeling of telepresence [1, 2]. The presence of communication delay, which can destabilize and degrade the system performance, is the most significant issue in the development of controller for teleoperation systems. The stability and position and force tracking of teleoperation systems subjected to time delays has been extensively studied in literature using scattering based [3–6], damping
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Robab Ebrahimi Bavili [email protected]; [email protected] Ali Farajzadeh Bavil [email protected] Ahmad Akbari [email protected]
1
Department of Electrical Engineering, Sahand University of Technology, Tabriz, Iran
2
Department of Electrical Engineering, K.N. Toosi University of Technology, Tehran, Iran
injection [7–10], adaptive methods [11, 12] and passivity based controllers [13, 14]. For a comprehensive study of various control schemes of teleoperation system, the interested reader is referred to [2]. Since the physical parameters of robotic systems are difficult to be determined precisely in practice, often there are some uncertainties in their dynamical models; so, compensating the effect of these uncertainties in developing control algorithm is necessary in the design of teleoperation systems [15]. There are many adaptive sc
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