Skip to main content
placeholder image

Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance

Journal Article


Abstract


  • A novel approach applying the extended

    prescribed performance control (PPC) and the wavebased

    time domain passivity approach (wave-based

    TDPA) to teleoperation systems is proposed. With the

    extended PPC, a teleoperation system can synchronize

    position, velocity and force. Moreover, by combining

    with the extended wave-based TDPA, the overall system’s

    passivity is guaranteed in the presence of arbitrary

    time delays. The system’s stability and performance

    are analyzed by using Lyapunov functions. The

    method is validated through experimental work based

    on a 3-DOF bilateral teleoperation system. The experimental

    results showthat the proposed control algorithm

    can robustly guarantee the master–slave system’s passivity

    and simultaneously provide high tracking performance

    of position, velocity and measured force signals.

Publication Date


  • 2017

Citation


  • D. Sun, F. Naghdy & H. Du, "Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance," Nonlinear Dynamics, vol. 87, (2) pp. 1253-1270, 2017.
  • D. Sun, F. Naghdy & H. Du, "Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance,"^^ Nonlinear Dynamics, vol. Online First, pp. 1-18, 2016.

Scopus Eid


  • 2-s2.0-84990903030

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/6202

Has Global Citation Frequency


Number Of Pages


  • 17

Start Page


  • 1253

End Page


  • 1270

Volume


  • 87

Issue


  • 2

Place Of Publication


  • Netherlands

Abstract


  • A novel approach applying the extended

    prescribed performance control (PPC) and the wavebased

    time domain passivity approach (wave-based

    TDPA) to teleoperation systems is proposed. With the

    extended PPC, a teleoperation system can synchronize

    position, velocity and force. Moreover, by combining

    with the extended wave-based TDPA, the overall system’s

    passivity is guaranteed in the presence of arbitrary

    time delays. The system’s stability and performance

    are analyzed by using Lyapunov functions. The

    method is validated through experimental work based

    on a 3-DOF bilateral teleoperation system. The experimental

    results showthat the proposed control algorithm

    can robustly guarantee the master–slave system’s passivity

    and simultaneously provide high tracking performance

    of position, velocity and measured force signals.

Publication Date


  • 2017

Citation


  • D. Sun, F. Naghdy & H. Du, "Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance," Nonlinear Dynamics, vol. 87, (2) pp. 1253-1270, 2017.
  • D. Sun, F. Naghdy & H. Du, "Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance,"^^ Nonlinear Dynamics, vol. Online First, pp. 1-18, 2016.

Scopus Eid


  • 2-s2.0-84990903030

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/6202

Has Global Citation Frequency


Number Of Pages


  • 17

Start Page


  • 1253

End Page


  • 1270

Volume


  • 87

Issue


  • 2

Place Of Publication


  • Netherlands