Model Predictive Control for Space Teleoperation Systems
Based on a Mixed-H
2
∕H
∞
Approach
Yanhua Yang, Ph.D.
1
; Hongyi Li, Ph.D.
2
; Yang Chen, Ph.D.
3
; and Jiarui Yi
4
Abstract: In this paper a novel model predictive control (MPC) approach is proposed based on mixed-H
2
∕H
∞
control for spac e teleop-
eration systems with unknown, large time-varying delays and inp ut constraints. This novel approach only measures the online delay; it does
not presume the delay bounds. In addition, H
∞
control has been incorporated into the original MPC, which compensates for large time-
varying delays, handles input constraints, and provides the desired tracking performance. First, the space teleoperation system is built based
on a type of control architecture and then converted into a discrete state-space equation. Next, a state-feedback controller is designed based on
linear matrix inequality (LMI). Meanwhile, the corresponding sufficient conditions are derived for the controll er, enabling the closed-loop
system to be asymptotically stable and guaranteeing the prescribed mixed-H
2
∕H
∞
performance under input constraints. The parameters of
the controller are calculated online by updating the mixed-H
2
∕H
∞
optimizing problem during each interval. Finally, comparative simulations
reveal that the proposed approach can achieve better performance in terms of tracking ability than that of traditional MPC. Moreover, it can
ensure the input constraints in the unknown, large time-varying delay scenario whereas the original H
∞
control approach cannot guarantee
performance. DOI: 10.1061/(ASCE)AS.1943-5525.0000469. © 2014 American Society of Civil Engineers.
Author keywords: Space teleoperation; Predictive control; Large time-varying delay; LMI; H
2
∕H
∞
.
Introduction
Time-varying delay is one of the major problems in bilateral
teleoperation systems that urgently need to be solved. Especially
in space teleoperation systems, the roundtrip time delay (RTT)
can often be several seconds and even up to dozens of minutes
(Burridge et al. 2009). Large time-varying delays may degrade
the performance of teleoperation systems and can even cause in-
stability in closed-loop systems ( Zhou et al. 2014). Burridge et al.
(2009) proposed that a system can be stabilized by means of a
bilateral control approach when the time delay is less than 2 s.
To some extent, the robot is supposed to have autonomous abilities
to stabilize the system when the time delay is greater than 10 s.
During the intermediate time delay (2–10 s), the stabilized states
can be realized by bilateral control approaches or by the autono-
mous abilities of the robot system. Unfortunately, many existing
bilateral control approaches (e.g., passive control schemes) have
failed to meet the requirement in this range, which is considered
a large time delay.
This paper focuses on solving these tough issues, proposing a
novel MPC method based on mixed-H
2
∕H
∞
control for bilateral
space teleoperation systems in which the communication network
creates large time-varying delays and inputs are constrained. A
novel control architecture is also presented, within which imped-
ance control is used to control the master robot manipulator and
a MPC based on a mixed-H
2
∕H
∞
controller is designed on the
slave side in which the RTT is also measured.
The main contribution of this research is that it combines MPC
and H
∞
control to deal with the time-varying delay and input con-
straint problems in space teleoperation systems. To the best of the
authors’ knowledge, it is the first application in the area of time-
varying delay teleoperation. This method doe s not need any infor-
mation about the delay in advance, even about the bounds of
the delay.
Background
Many sc holars have proposed control methods to conquer the time
delay problems of bilater al teleoperation sys tems (e.g., Sheridan
1993; Arcara and Melchiorri 2002; Hokayem and Spong 2006).
In this paper, two of the most important control schemes, which
are based on H
∞
and MPC, are reviewed.
H
∞
control can guarantee system stability. At the same time,
it can reduce the influence on system performance of bounded
disturbance at a given level regardless of the disturbance character-
istics. For this reason, H
∞
control schemes have been applied in
many teleoperation systems. As far as is known, they can be
roughly divided into two groups. One group models time delay
as a disturbance or uncertain term. For example, Leung and Francis
(1995) modeled time delay as a disturbance and designed a con-
troller using the μ-synthesis method, which enables the closed-
loop system to be both stabilized and ro bust against the delay
disturbance. Considering time delay as an uncertain term, Fattouh
and Sename (2003) designed an H
∞
impedance controller, but
this approach often leads to large conservation. Sename and
1
Lecturer, School of Information Science and Engineering, Wuhan
Univ. of Science and Technology, Wuhan 430081, China; and State Key
Laboratory of Robotics, Shenyang Institute of Automation, Chinese
Academy of Sciences, Shenyang 110016, China (corresponding author).
E-mail: yangyh15@gmail.com
2
Professor, State Key Laboratory of Robotics, Shenyang Institute of
Automation, Chinese Academy of Sciences, Shenyang 110016, China.
E-mail: hli@sia.cn
3
Assistant Professor, School of Information Science and Engineering,
Wuhan Univ. of Science and Technology, Wuhan 430081, China. E-mail:
chenyag@gmail.com
4
Ph.D. Candidate, Dept. of Electrical and Computer Engineering, Univ.
of Texas at El Paso, El Paso, TX 79968. E-mail: rainyijia@gmail.com
Note. This manuscript was submitted on September 11, 2013; approved
on September 9, 2014; published online on October 27, 2014. Discussion
period open until March 27, 2015; separate discussions must be submitted
for individual papers. This paper is part of the Journal of Aerospace En-
gineering, © ASCE, ISSN 0893-1321/04014133(9)/$25.00.
© ASCE 04014133-1 J. Aerosp. Eng.
J. Aerosp. Eng. 2015.28.
Downloaded from ascelibrary.org by UTEP LIBRARY-SERIALS on 09/16/15. Copyright ASCE. For personal use only; all rights reserved.
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