A controller-observer scheme for nonlinear bilateral teleoperation systems

作者：Baghestan Keivan; Rezaei Seyed Mehdi; Talebi Heidar Ali; Zareinejad Mohammad^*

来源：Proceedings of the Institution of Mechanical Engineers Part I-Journal of Systems and Control Engineering, 2014, 228(1): 49-59.

DOI：10.1177/0959651813502176

• Teleoperation
• nonlinear
• observer
• stability
• time delay

This article presents an observer-based control scheme for nonlinear bilateral teleoperation systems under variable asymmetric time delays. Estimated velocities are used in control laws, which may make the system unstable. A novel stability analysis is addressed to guarantee the performance of the controller-observer scheme. The proposed scheme is composed of feedback controllers, consisting of two proportional-derivative plus damping controllers in which d-terms are used to passify the delayed proportional and derivative control actions. Two nonlinear high-gain observers are designed in order to estimate the velocity signals of the master and the slave. The stability of the overall closed-loop system is proved under the assumption of passivity of the terminal operator and environment. The performance of the proposed approach is verified using experiments performed on a 2-degree-of-freedom teleoperation system. Experimental results verify that both controller and observer design objectives are satisfied.

• 出版日期2014-1