International Journal of Control, Automation and Systems 16(2) (2018) 887-895
http://dx.doi.org/10.1007/s12555-016-0643-0
ISSN:1598-6446 eISSN:2005-4092
http://www.springer.com/12555
IMC-based Design for Teleoperation Systems with Time Delays
Yuling Li, Yixin Yin, and Dezheng Zhang*
Abstract: The presence of time delays in communication introduces a limitation to the stability of bilateral tele-
operation systems. In this study, we address the design of Internal Model Control (IMC)-based controllers for
teleoperation systems with arbitrary time delays. The two degrees of freedom IMC structure is utilized for the mas-
ter and the slave respectively and thus the passivity-assumption on the external forces is not required. The stability
of the overall system is analyzed by regarding the whole system as a multivariable system. A performance-oriented
controller design process which guarantees the delayed tracking between the master and the slave is also given.
Finally, an example is given to validate the effectiveness of the proposed method.
Keywords: Control of robotic systems, IMC, teleoperation systems, time-delays.
1. INTRODUCTION
Teleoperation systems enable humans to extend their
capacity to manipulate interfaces with better safety, at less
cost, and even with better accuracy. A typical teleoper-
ation system composes of five parts: a human operator,
a master robot which is operated by the human operator,
a slave robot, the environment interacted with the slave,
and the communication channel between the master and
the slave [ 1]. The main objectives of control design for
a bilateral system are stability of the closed-loop system,
position coordination between the master and the slave,
and haptic force display of environment to the human op-
erator.
When there exist significant delays in the communica-
tion channel of the teleoperation system, one major is-
sue is the stability of the system [2]. Many studies have
been devoted to the control design and stability analysis
of teleoperation system with delays, such as constant de-
lays [3], time varying delays [4–9], and stochastic delays
[10, 11], just to name a few. However, these results were
only suitable for bounded delays. Furthermore, for tele-
operation design with time-varying delays, the derivatives
of the time delays were required to be less or equal to one
and some of them also required the value of the deriva-
tives. Therefore, these results were still very restrictive,
since for one thing the communication delays may be in-
finite in practice; for another, the derivatives of the time
Manuscript received October 12, 2016; revised April 6, 2017; accepted July 7, 2017. Recommended by Associate Editor Huanqing Wang
under the direction of Editor PooGyeon Park. This work was jointly supported by the National Natural Science Foundation of China (No.
61333002), the Fundamental Research Funds for the Central Universities (No. FRF-TP-16-024A1, FPR-BD-16-005A), and the Beijing Key
Discipline Development Program (No. XK100080537).
Yuling Li and Yixin Yin are with the School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing,
100083, P. R. China, and the Key Laboratory of Knowledge Automation for Industrial Processes, Ministry of Education, Beijing 100083,
P. R. China (e-mails: lyl8ustb@gmail.com, yyx@ies.ustb.edu.cn). Dezheng Zhang is with the School of Computer and Communication
Engineering, University of Science and Technology Beijing, Beijing, 100083, China (e-mail: zdzchina@126.com).
* Corresponding author.
delays may not be known and larger than one. Thus, it is
desirable to have a control scheme that is independent of
time delays. To date, very few works addressed the control
of teleoperation systems with arbitrary delays. Chen et al.
[12,13] investigated a disturbance observer based adaptive
robust control framework for teleoperation systems which
is applicable to the control under arbitrary time delay. Cho
and Kristalny deduced a control strategy by Youla param-
eterization [14–16] which is independent of time delays.
More work should be devoted to the control of teleoper-
ation systems with arbitrary time delays or infinite time
delays.
The classical methods to deal with communication de-
lays are passivity-based approaches which are based on
scattering theory [2] or wave variable [17] concept. These
controllers render the communication link passive and,
thus, guarantee stable bilateral teleoperation of any pas-
sive environment by any passive user, see [18] and the ref-
erences therein. For passivity-based controlled teleopera-
tion systems [9], passivity assumption on external forces
is required. However, in reality, it is not so easy to sat-
isfy this assumption, and thus this control strategy has its
own limitation in real applications. Realizing the disad-
vantages in applying passivity-based control schemes in
teleoperation systems, the research of non-passive tele-
operation design was underway. In the context of non-
passive teleoperation design, some previous results can
be found in the literature [3, 19–22]. Polushin et al. [19]
c
ICROS, KIEE and Springer 2018
下载后可阅读完整内容，剩余8页未读，立即下载
weixin_38609913
- 粉丝: 7
- 资源: 930
我的内容管理
展开
最新资源
- Google Test 1.8.x版本压缩包快速下载指南
- Java实现二叉搜索树的插入与查找功能
- Python库丰富性与数据可视化工具Matplotlib
- MATLAB通信仿真设计源代码与应用解析
- 响应式环保设备网站模板源码下载
- 微信小程序答疑平台完整设计源码案例
- 全元素DFT计算所需赝势UPF文件集合
- Object-C实现的Flutter组件开发详解
- 响应式环境设备网站模板下载 - 恒温恒湿机营销平台
- MATLAB绘图示例与知识点深入探讨
- DzzOffice平台新插件：excalidraw白板功能介绍与使用指南
- Java基础实训教程：电子商城项目开发与实践
- 物业集团管理系统数据库设计项目完整复刻包
- 三五族半导体能带参数计算器：精准模拟与应用
- 毕业论文：基于SSM框架的毕业生跟踪调查反馈系统设计与实现
- 国产化数据库适配：人大金仓与达梦实践教程
资源上传下载、课程学习等过程中有任何疑问或建议，欢迎提出宝贵意见哦~我们会及时处理！
点击此处反馈
