Robust Adaptive Observer-Based Predictive Control for a Non-Linear Delayed Bilateral Teleoperation System
In this paper, a new robust adaptive nonlinear teleoperation system using an improved extended active observer (IEAOB), adaptive Smith predictor (ASP) and sliding mode control is developed to address the time delay in the communication channels and the nonlinear robot model uncertainties. Firstly, a...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9774359/ |
| _version_ | 1818203078823772160 |
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| author | Linping Chan Yang Liu Qingqing Huang Ping Wang |
| author_facet | Linping Chan Yang Liu Qingqing Huang Ping Wang |
| author_sort | Linping Chan |
| collection | DOAJ |
| description | In this paper, a new robust adaptive nonlinear teleoperation system using an improved extended active observer (IEAOB), adaptive Smith predictor (ASP) and sliding mode control is developed to address the time delay in the communication channels and the nonlinear robot model uncertainties. Firstly, an ASP based on Padé approximation and active observer is designed to compensate for the time delay effect. Specifically, the total network time delay is modelled by Padé approximation, and then an active observer is deployed to estimate the time delay. To ensure the time-varying delay effect is completely suppressed, a sliding mode control algorithm is further developed. The main added value of this teleoperation approach is that it requires neither specific mathematic delay-time model, nor strict assumptions on time delay from a practical point of view. Finally, the stability of the designed teleoperation system is theoretically studied and the system effectiveness is demonstrated by applying it to a pair of Phantom Omni haptic devices connected via a communication channel with time-varying delays. |
| first_indexed | 2024-12-12T03:19:38Z |
| format | Article |
| id | doaj.art-ceafd6d4330b4b5c9410bedfc3aca8eb |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-12T03:19:38Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-ceafd6d4330b4b5c9410bedfc3aca8eb2022-12-22T00:40:11ZengIEEEIEEE Access2169-35362022-01-0110522945230510.1109/ACCESS.2022.31748719774359Robust Adaptive Observer-Based Predictive Control for a Non-Linear Delayed Bilateral Teleoperation SystemLinping Chan0https://orcid.org/0000-0002-1458-4217Yang Liu1Qingqing Huang2https://orcid.org/0000-0002-8298-5418Ping Wang3Key Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing, ChinaKey Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing, ChinaKey Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing, ChinaKey Laboratory of Industrial Internet of Things and Networked Control, Chongqing University of Posts and Telecommunications, Chongqing, ChinaIn this paper, a new robust adaptive nonlinear teleoperation system using an improved extended active observer (IEAOB), adaptive Smith predictor (ASP) and sliding mode control is developed to address the time delay in the communication channels and the nonlinear robot model uncertainties. Firstly, an ASP based on Padé approximation and active observer is designed to compensate for the time delay effect. Specifically, the total network time delay is modelled by Padé approximation, and then an active observer is deployed to estimate the time delay. To ensure the time-varying delay effect is completely suppressed, a sliding mode control algorithm is further developed. The main added value of this teleoperation approach is that it requires neither specific mathematic delay-time model, nor strict assumptions on time delay from a practical point of view. Finally, the stability of the designed teleoperation system is theoretically studied and the system effectiveness is demonstrated by applying it to a pair of Phantom Omni haptic devices connected via a communication channel with time-varying delays.https://ieeexplore.ieee.org/document/9774359/Delay compensationdisturbance suppressionadaptive Smith predictorsliding mode controlimproved extended active observer |
| spellingShingle | Linping Chan Yang Liu Qingqing Huang Ping Wang Robust Adaptive Observer-Based Predictive Control for a Non-Linear Delayed Bilateral Teleoperation System IEEE Access Delay compensation disturbance suppression adaptive Smith predictor sliding mode control improved extended active observer |
| title | Robust Adaptive Observer-Based Predictive Control for a Non-Linear Delayed Bilateral Teleoperation System |
| title_full | Robust Adaptive Observer-Based Predictive Control for a Non-Linear Delayed Bilateral Teleoperation System |
| title_fullStr | Robust Adaptive Observer-Based Predictive Control for a Non-Linear Delayed Bilateral Teleoperation System |
| title_full_unstemmed | Robust Adaptive Observer-Based Predictive Control for a Non-Linear Delayed Bilateral Teleoperation System |
| title_short | Robust Adaptive Observer-Based Predictive Control for a Non-Linear Delayed Bilateral Teleoperation System |
| title_sort | robust adaptive observer based predictive control for a non linear delayed bilateral teleoperation system |
| topic | Delay compensation disturbance suppression adaptive Smith predictor sliding mode control improved extended active observer |
| url | https://ieeexplore.ieee.org/document/9774359/ |
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