Multilateral teleoperation over communication time delay using the time-domain passivity approach

Ryu, Jee-Hwan; Ha-Van, Quang; Jafari, Aghil

Abstract

A general framework to stabilize multilateral teleoperation system over a communication time delay based on the well-known time-domain passivity approach (TDPA) is proposed. The uniqueness of this framework is that it is independent of the amount of communication time delay, the multilateral control architecture, and the number of masters and slaves. The multilateral system was first decoupled into subsystems with respect to each terminal by identifying the input signals' contributions to the output terminals, which was not straightforward due to the coupled nature of the multilateral teleoperation system. The decoupled subsystems were then converted into an electrical circuit using a mechanical-electrical analogy. Time-delay power network (TDPN) was introduced to clarify active energy sources from the time delay and passivity observer/passivity controller (PO/PC) was utilized to dissipate those active energies. A less-conservative method compared with prior work was proposed to guarantee the stability. Experiments with a trilateral teleoperation system and with a multilateral teleoperation system with a dual master and dual slave were conducted to validate the proposed framework.

• Journal Article Type: Article
• Acceptance Date: Sep 30, 2019
• Online Publication Date: Nov 11, 2019
• Publication Date: Nov 1, 2020
• Deposit Date: Oct 17, 2019
• Publicly Available Date: Dec 12, 2019
• Journal: IEEE Transactions on Control Systems Technology
• Print ISSN: 1063-6536
• Electronic ISSN: 1558-0865
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Volume: 28
• Issue: 6
• Pages: 2705 - 2712
• DOI: https://doi.org/10.1109/TCST.2019.2948126
• Keywords: Control design; Force feedback; Haptic interfaces; Robust stability; Stability analysis; Telerobotics; Force; Delay effects; Time-domain analysis; Stability criteria; Computer architecture; Force measurement
• Public URL: https://uwe-repository.worktribe.com/output/3860587