Position Measurement Based Slave Torque Feedback Control for Teleoperation Systems With Time-Varying Communication Delays

Xian Yang; Jing Yan; Changchun Hua; Xinping Guan

doi:10.1109/JAS.2022.106076

Volume 10 Issue 2

Feb. 2023

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2023 > 10(2): 388-402

X. Yang, J. Yan, C. C. Hua, and X. P. Guan, “Position measurement based slave torque feedback control for teleoperation systems with time-varying communication delays,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 2, pp. 388–402, Feb. 2023. doi: 10.1109/JAS.2022.106076

Citation:

X. Yang, J. Yan, C. C. Hua, and X. P. Guan, “Position measurement based slave torque feedback control for teleoperation systems with time-varying communication delays,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 2, pp. 388–402, Feb. 2023. doi: 10.1109/JAS.2022.106076

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Position Measurement Based Slave Torque Feedback Control for Teleoperation Systems With Time-Varying Communication Delays

doi: 10.1109/JAS.2022.106076

Xian Yang^1
,,
Jing Yan^{2
,
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Changchun Hua^2
,,
Xinping Guan^3
,

1.
Institute of Information Science and Engineering, Yanshan University, and also with the Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province, Qinhuangdao 066004, China
2.
Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China
3.
Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China

Funds: This work was supported in part by the National Science Foundation (NSF) of China (61973263), the National Natural Science Foundation of China Outstanding Youth Fund (62222314), Youth Talent Program of Hebei (BJ2020031, BJ2019047), the Excellent Youth Project for NSF of Hebei Province (F2021203056), the Distinguished Young Foundation of Hebei Province (F2022203001), the Central Guidance Local Foundation of Hebei Province (226Z3201G), the Three-Three-Three Foundation of Hebei Province (C20221019), and the Innovation Capability Improvement Plan Project of Hebei Province (22567626H)

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Author Bio:
Xian Yang received the B.S. degree in automation from Yanshan University in 2010, and the Ph.D. degree in control theory and control engineering from Yanshan University in 2016. She is currently an Associate Professor with Yanshan University. She has authored over 20 referred international journal and conference papers. Her research interests include networked teleoperation systems, underwater cyberphysical systems, and nonlinear control. Dr. Yang received Youth Top Project for Hebei Education Department in 2019 and the Excellent Youth Project for NSF of Hebei Province in 2021

Jing Yan (Senior Member, IEEE) received the B.Eng. degree in automation from Henan University in 2008, and the Ph.D. degree in control theory and control engineering from Yanshan University in 2014. From January 2016 to September 2016, he was a postdoctor with University of North Texas, US. From October 2016 to January 2017, he was a Research Associate with University of Texas at Arlington, US. He is currently a Full Professor with Yanshan University. His research interests include underwater acoustic sensor networks, networked teleoperation systems, and cyberphysical systems. He has authored over 60 referred international journal and conference papers. Meanwhile, he has published two books, and he is also the inventor of seventeen patents. He received the Excellent Youth Project for NSF of China in 2022, Distinguished Youth Project for NSF of Hebei Province in 2022, Excellence Paper Award from the National Doctoral Academic Forum of System Control and Information Processing in 2012, the Excellence Adviser from Oceanology International Underwater Robot Competition in 2017, the Youth Top Talent Project for Hebei Education Department in 2018, and the Excellent Youth Project for NSF of Hebei Province in 2020. Currently, Dr. Yan serves as the Career Associate Editor of IEEE/CAA Journal of Automatica Sinica, the Associate Editor of Wireless Networks (Springer), and the Associate Editor of IET Control Theory & Applications

Changchun Hua (Member, IEEE) received the Ph.D. degree in electrical engineering from Yanshan University in 2005. He is currently a Full Professor with Yanshan University. He has authored or coauthored over 110 papers in mathematical, technical journals, and conferences. He has been involved in over ten projects supported by the National Natural Science Foundation of China, the National Education Committee Foundation of China, and other important foundations. His current research interests include nonlinear control systems, control systems design over network, teleoperation systems, and intelligent control. Prof. Hua is a National Outstanding Youth honored by NSF of China and the Changjiang Scholar by the Ministry of Education of China

Xinping Guan (Fellow, IEEE) is currently a Chair Professor of Shanghai Jiao Tong University where he is the Deputy Director of University Research Management Office, and the Director of the Key Laboratory of Systems Control and Information Processing, Ministry of Education of China. Before that, he was the Professor and Dean of Electrical Engineering, Yanshan University. Prof. Guan’s current research interests include industrial cyber-physical systems, wireless networking and applications in smart city and smart factory, and underwater sensor networks. He has authored and/or coauthored 4 research monographs, more than 270 papers in IEEE Transactions and other peer-reviewed journals, and numerous conference papers. As a Principal Investigator, he has finished/been working on many national key projects. He is the Leader of the prestigious Innovative Research Team of the National Natural Science Foundation of China (NSFC). Dr. Guan is an Executive Committee Member of Chinese Automation Association Council and the Chinese Artificial Intelligence Association Council. He received the First Prize of Natural Science Award from the Ministry of Education of China in 2006 and 2016, respectively, and the Second Prize of the National Natural Science Award of China in 2008. He was a recipient of the IEEE Transactions on Fuzzy Systems Outstanding Paper Award in 2008. He is a National Outstanding Youth honored by NSF of China, Changjiang Scholar by the Ministry of Education of China and State-level Scholar of New Century Bai Qianwan Talent Program of China
Corresponding author: Jing Yan, e-mail: jyan@ysu.edu.cn
Received Date: 2022-02-22
Revised Date: 2022-05-30
Accepted Date: 2022-08-20

Available Online: 2022-11-04

Abstract

Abstract

Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects remotely. For the tracking control of teleoperation systems, velocity measurements are necessary to provide feedback information. However, due to hardware technology and cost constraints, the velocity measurements are not always available. In addition, the time-varying communication delay makes it challenging to achieve tracking task. This paper provides a solution to the issue of real-time tracking for teleoperation systems, subjected to unavailable velocity signals and time-varying communication delays. In order to estimate the velocity information, immersion and invariance (I&I) technique is employed to develop an exponential stability velocity observer. For the proposed velocity observer, a linear relationship between position and observation state is constructed, through which the need of solving partial differential and certain integral equations can be avoided. Meanwhile, the mean value theorem is exploited to separate the observation error terms, and hence, all functions in our observer can be analytically expressed. With the estimated velocity information, a slave-torque feedback control law is presented. A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking conditions. In particular, the relationship between the controller design parameters and the allowable maximum delay values is provided. Finally, simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.
- Asymptotic stability,
- bilateral teleoperation,
- time-varying delay,
- velocity observer

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References

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An I&I based velocity observer is developed, and meanwhile the sufficient conditions for exponential convergence are established
With the estimated velocity from observer, a slave-torque feedback control algorithm is designed to make the slave manipulator follow the trajectory of master manipulator
Meanwhile, a delay-dependent convergence criterion is proposed based on the constructed Lyapunov-Krasovskii functional

Position Measurement Based Slave Torque Feedback Control for Teleoperation Systems With Time-Varying Communication Delays

doi: 10.1109/JAS.2022.106076

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