Regular Papers

International Journal of Control, Automation and Systems 2022; 20(7): 2353-2363

Published online June 9, 2022

https://doi.org/10.1007/s12555-021-0225-7

© The International Journal of Control, Automation, and Systems

A Novel Passivity Criterion for Bilateral Teleoperation Under Event-triggered PD-like Control with Constant Time Delays

Yunli Gong and Yude Ji*

Hebei University of Science and Technology

Abstract

Bilateral teleoperation systems expand the capabilities of human spring from its telecommunication function. Majority of studies in bilateral teleoperation systems were investigated under continuous communication that easily caused traffic in communication channel. By utilizing PD-like controller, event-triggered mechanism is proposed for bilateral teleoperation system in this paper to solve congestion in channel. Velocity estimator is introduced to meet the demand of velocity information in PD-like controller and event-triggered mechanism. Through Lyapunov stability theory, the stability and position tracking performance of bilateral teleoperation system are ensured, and nonzero lower bound of adjacent triggering time is guaranteed. Finally, simulations are illustrated to validate the performance of the proposed teleoperation system.

Keywords Bilateral teleoperation, event-triggered mechanism, stability, time delay, velocity estimator.

Article

Regular Papers

International Journal of Control, Automation and Systems 2022; 20(7): 2353-2363

Published online July 1, 2022 https://doi.org/10.1007/s12555-021-0225-7

Copyright © The International Journal of Control, Automation, and Systems.

A Novel Passivity Criterion for Bilateral Teleoperation Under Event-triggered PD-like Control with Constant Time Delays

Yunli Gong and Yude Ji*

Hebei University of Science and Technology

Abstract

Bilateral teleoperation systems expand the capabilities of human spring from its telecommunication function. Majority of studies in bilateral teleoperation systems were investigated under continuous communication that easily caused traffic in communication channel. By utilizing PD-like controller, event-triggered mechanism is proposed for bilateral teleoperation system in this paper to solve congestion in channel. Velocity estimator is introduced to meet the demand of velocity information in PD-like controller and event-triggered mechanism. Through Lyapunov stability theory, the stability and position tracking performance of bilateral teleoperation system are ensured, and nonzero lower bound of adjacent triggering time is guaranteed. Finally, simulations are illustrated to validate the performance of the proposed teleoperation system.

Keywords: Bilateral teleoperation, event-triggered mechanism, stability, time delay, velocity estimator.

IJCAS
April 2024

Vol. 22, No. 4, pp. 1105~1460

Stats or Metrics

Share this article on

  • line

Related articles in IJCAS

IJCAS

eISSN 2005-4092
pISSN 1598-6446