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Wave-variable-based passivity control of four-channel nonlinear bilateral teleoperation system under time delays

Journal Article


Abstract


  • An innovative wave-based time-domain passivity approach applied to a four-channel nonlinear teleoperation system is proposed. The primary objective of this approach is to enhance system transparency while maintaining stability in the presence of random time delays. The system stability for different scenarios of human and environment condition is analyzed. 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 system stability, and simultaneously provide better performance than methods developed in previous work.

Publication Date


  • 2016

Citation


  • D. Sun, F. Naghdy & H. Du, "Wave-variable-based passivity control of four-channel nonlinear bilateral teleoperation system under time delays,"^^ IEEE/ASME Transactions on Mechatronics, vol. 21, (1) pp. 238-253, 2016.

Scopus Eid


  • 2-s2.0-84961897458

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/5356

Number Of Pages


  • 15

Start Page


  • 238

End Page


  • 253

Volume


  • 21

Issue


  • 1

Abstract


  • An innovative wave-based time-domain passivity approach applied to a four-channel nonlinear teleoperation system is proposed. The primary objective of this approach is to enhance system transparency while maintaining stability in the presence of random time delays. The system stability for different scenarios of human and environment condition is analyzed. 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 system stability, and simultaneously provide better performance than methods developed in previous work.

Publication Date


  • 2016

Citation


  • D. Sun, F. Naghdy & H. Du, "Wave-variable-based passivity control of four-channel nonlinear bilateral teleoperation system under time delays,"^^ IEEE/ASME Transactions on Mechatronics, vol. 21, (1) pp. 238-253, 2016.

Scopus Eid


  • 2-s2.0-84961897458

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/5356

Number Of Pages


  • 15

Start Page


  • 238

End Page


  • 253

Volume


  • 21

Issue


  • 1