Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic Systems over a Lossy Communication Channe
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Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic Systems over a Lossy Communication Channel BAKHSHI Ali · ALFI Alireza · TALEBI Heidar Ali · SOURATGAR Amir Aboulfazl · YOUSEFI Mahdi
DOI: 10.1007/s11424-020-9144-6 Received: 28 April 2019 / Revised: 9 March 2020 c The Editorial Office of JSSC & Springer-Verlag GmbH Germany 2020 Abstract The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel; however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous pulses. To improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique. Keywords
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Lossy channel, passivity, stability, telerobotic, transparency.
Introduction
The main aspect of telerobotic systems is to carry out different tasks in a remote environment by human operators, which allow them to operate from long distances, such as surgical tasks[1] . BAKHSHI Ali Faculty of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood 36199-95161, Iran; Power Plants Control Systems Technology Development Plan, Department of monitoring and Control, Niroo Research Institute, Tehran 14665-517, Iran. Email: [email protected]. ALFI Alireza Faculty of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood 36199-95161, Iran. Email: a [email protected]. TALEBI Heidar Ali · SOURATGAR Amir Aboulfazl Real-Time and Robotics system Laboratory, Faculty of Electrical Engineering, Amirkabir University of Technology, Hafez Avenue, Tehran 15914, Iran. Email: [email protected]; [email protected]. YOUSEFI Mahdi Electrical and Computer Engineering Department, The University of British Columbia, 2385 East Mall, Vancouver, BC V6T 1Z4, Canada. Email: [email protected]. This paper was recommended for publication by Editor SUN Jian.
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BAKHSHI ALI, et al.
The communication network in the control loop makes the stability analysis and controller design of telerobotic systems more complex[2] . Two inherent issues, namely time delay and data loss, are the most challenging problems leading to the performance degradation or even instability of the system[3] . Time delay reveals when the data exchange happens between master and slave devices connected by the communication network, and the data loss generally results from transmission errors in the physical network links
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