Delay compensation in bilateral control using a sliding mode observer

ÜNEL, MUSTAFA; BOĞOSYAN, Seta; LEBLEBİCİ, Tuğba; SABANOVIC, Asif; GÖKAŞAN, METİN; ÇALLI, Berk

Delay compensation in bilateral control using a sliding mode observer

Tuğba LEBLEBİCİ, (Sabancı Üniversitesi, Mekatronik Mühendisliği Bölümü, İstanbul, Türkiye)

Berk ÇALLI, (Sabancı Üniversitesi, Mekatronik Mühendisliği Bölümü, İstanbul, Türkiye)

Mustafa ÜNEL, (Sabancı Üniversitesi, Mekatronik Mühendisliği Bölümü, İstanbul, Türkiye)

Asif SABANOVIC, (Sabancı Üniversitesi, Mekatronik Mühendisliği Bölümü, İstanbul, Türkiye)

Seta BOĞOSYAN, (Electrical and Computer Engineering Dept. University of Alaska Fairbanks, Fairbanks, AK 99775, U.S.A)

Metin GÖKAŞAN (İstanbul Teknik Üniversitesi, Kontrol Mühendisliği Bölümü, İstanbul, Türkiye)

Turkish Journal of Electrical Engineering and Computer Sciences

1 0

Yıl: 2011 Cilt: 19 Sayı: 6 Sayfa Aralığı: 851 - 859 Metin Dili: İngilizce İndeks Tarihi: 29-07-2022

Delay compensation in bilateral control using a sliding mode observer

Öz:

In bilateral control applications, time delays in the communication channel have destabilizing effects and cause degradations in the performance of the system. In this paper, a sliding mode observer is used in conjunction with a disturbance observer to predict states of the slave system. Predicted states are then used in control formulation. Simulation and experimental results show that the proposed method avoids instability due to time delays in bilateral operation and provides satisfactory performance.

Anahtar Kelime:

Konular: Mühendislik, Elektrik ve Elektronik

Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık

[1] R. J. Anderson , M.W. Spong, “Bilateral control of teleoperators with time delay”, Proc. of International Conference on Systems, Man and Cybernetics, 1988.
[2] R. Lozano, N. Chopra, M. W. Spong, “Passivation of Force Reflecting Bilateral Teleoperators with Time Delay”, Proceedings of 8. Mechatronics Forum, 2002.
[3] N. Chopra, M. W. Spong, “Bilateral Teleoperation Over the Internet: Time Varying Delay Problem”, Proceedings of American Control Conference, 2003.
[4] N. Chopra, P. Berestesky, M. W. Spong, “Bilateral Teleoperation Over Unreliable Communication Networks”, IEEE Transactions on Control Systems Techology, 2008.
[5] G. Niemeyer, J. E. Slotine, “Stable Adaptive Teleoperation”, IEEE Journal of Oceanic Engineering, 1991.
[6] G. Niemeyer, J. E. Slotine, “Towards Force Reflecting Teleoperation Over Internet”, International Conference on Robotics and Automation, 1998.
[7] K. Natori, T. Tsuji, K. Ohnishi, A. Hace, K. Jezernik, “Robust Bilateral Control with Internet Communication”, Conference of the IEEE Industrial Electronics Society, 2004.
[8] K. Natori, K. Ohnishi, “Time Delay Compensation in Bilateral Teleoperation Systems”, IEEE 3rd International Conference of Mechatronics, 2006.
[9] L. G. Garcia-Valdovinos, V. Parra-Vega, M. A. Arteaga, “Observer-based Sliding-Mode Impedance Control of Bilateral Teleoperation under Constant Unknown Time Delay”, International Journal of Robotics and Autonomous Systems, 2007.
[10] J. H. Park, H. C. Cho, “Sliding-Mode Controller for Bilateral Teleoperation with Varying Time Delay”, International Conference on Advanced Intelligent Mechatronics,1999.
[11] G. M. H. Leung, A. B. Francis, J. Apkarian, “Bilateral Controller for with Time Delay via Teleoperators μ- Synthesis”, IEEE Transactions on Robotics and Automation, 1995.
[12] G. M. H. Leung, B. A. Francis, “Robust Nonlinear Control of Bilateral Teleoperators”, Proceedings of the American Control Conference,1994.
[13] S. Komada, M. Ishida, K. Ohnishi, T. Hori “Disturbance Observer-Based Motion Control Of Direct Drive Motors”, IEEE Transactions on Energy Conversion, Vol. 6, No. 3, September 1991.
[14] K. Ohnishi, T. Murakami “Advanced Motion Control in Robotics”, IEEE, IECON, vol. 2, pp.356- 359, 1989.

APA	LEBLEBİCİ T, ÇALLI B, ÜNEL M, SABANOVIC A, BOĞOSYAN S, GÖKAŞAN M (2011). Delay compensation in bilateral control using a sliding mode observer. , 851 - 859.
Chicago	LEBLEBİCİ Tuğba,ÇALLI Berk,ÜNEL MUSTAFA,SABANOVIC Asif,BOĞOSYAN Seta,GÖKAŞAN METİN Delay compensation in bilateral control using a sliding mode observer. (2011): 851 - 859.
MLA	LEBLEBİCİ Tuğba,ÇALLI Berk,ÜNEL MUSTAFA,SABANOVIC Asif,BOĞOSYAN Seta,GÖKAŞAN METİN Delay compensation in bilateral control using a sliding mode observer. , 2011, ss.851 - 859.
AMA	LEBLEBİCİ T,ÇALLI B,ÜNEL M,SABANOVIC A,BOĞOSYAN S,GÖKAŞAN M Delay compensation in bilateral control using a sliding mode observer. . 2011; 851 - 859.
Vancouver	LEBLEBİCİ T,ÇALLI B,ÜNEL M,SABANOVIC A,BOĞOSYAN S,GÖKAŞAN M Delay compensation in bilateral control using a sliding mode observer. . 2011; 851 - 859.
IEEE	LEBLEBİCİ T,ÇALLI B,ÜNEL M,SABANOVIC A,BOĞOSYAN S,GÖKAŞAN M "Delay compensation in bilateral control using a sliding mode observer." , ss.851 - 859, 2011.
ISNAD	LEBLEBİCİ, Tuğba vd. "Delay compensation in bilateral control using a sliding mode observer". (2011), 851-859.

APA	LEBLEBİCİ T, ÇALLI B, ÜNEL M, SABANOVIC A, BOĞOSYAN S, GÖKAŞAN M (2011). Delay compensation in bilateral control using a sliding mode observer. Turkish Journal of Electrical Engineering and Computer Sciences, 19(6), 851 - 859.
Chicago	LEBLEBİCİ Tuğba,ÇALLI Berk,ÜNEL MUSTAFA,SABANOVIC Asif,BOĞOSYAN Seta,GÖKAŞAN METİN Delay compensation in bilateral control using a sliding mode observer. Turkish Journal of Electrical Engineering and Computer Sciences 19, no.6 (2011): 851 - 859.
MLA	LEBLEBİCİ Tuğba,ÇALLI Berk,ÜNEL MUSTAFA,SABANOVIC Asif,BOĞOSYAN Seta,GÖKAŞAN METİN Delay compensation in bilateral control using a sliding mode observer. Turkish Journal of Electrical Engineering and Computer Sciences, vol.19, no.6, 2011, ss.851 - 859.
AMA	LEBLEBİCİ T,ÇALLI B,ÜNEL M,SABANOVIC A,BOĞOSYAN S,GÖKAŞAN M Delay compensation in bilateral control using a sliding mode observer. Turkish Journal of Electrical Engineering and Computer Sciences. 2011; 19(6): 851 - 859.
Vancouver	LEBLEBİCİ T,ÇALLI B,ÜNEL M,SABANOVIC A,BOĞOSYAN S,GÖKAŞAN M Delay compensation in bilateral control using a sliding mode observer. Turkish Journal of Electrical Engineering and Computer Sciences. 2011; 19(6): 851 - 859.
IEEE	LEBLEBİCİ T,ÇALLI B,ÜNEL M,SABANOVIC A,BOĞOSYAN S,GÖKAŞAN M "Delay compensation in bilateral control using a sliding mode observer." Turkish Journal of Electrical Engineering and Computer Sciences, 19, ss.851 - 859, 2011.
ISNAD	LEBLEBİCİ, Tuğba vd. "Delay compensation in bilateral control using a sliding mode observer". Turkish Journal of Electrical Engineering and Computer Sciences 19/6 (2011), 851-859.