Composite Nonlinear Bilateral Control for Teleoperation Systems With External Disturbances

Zhenhua Zhao; Jun Yang; Shihua Li; Wen-Hua Chen

doi:10.1109/JAS.2018.7511273

Volume 6 Issue 5

Sep. 2019

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2019 > 6(5): 1220-1229

Zhenhua Zhao, Jun Yang, Shihua Li and Wen-Hua Chen, "Composite Nonlinear Bilateral Control for Teleoperation Systems With External Disturbances," IEEE/CAA J. Autom. Sinica, vol. 6, no. 5, pp. 1220-1229, Sept. 2019. doi: 10.1109/JAS.2018.7511273

Citation:

Zhenhua Zhao, Jun Yang, Shihua Li and Wen-Hua Chen, "Composite Nonlinear Bilateral Control for Teleoperation Systems With External Disturbances," IEEE/CAA J. Autom. Sinica, vol. 6, no. 5, pp. 1220-1229, Sept. 2019. doi: 10.1109/JAS.2018.7511273

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Composite Nonlinear Bilateral Control for Teleoperation Systems With External Disturbances

doi: 10.1109/JAS.2018.7511273

1.
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
2.
School of Automation, Southeast University, Key Laboratory of Measurement and Control of School of Computer Science and Engineering (CSE), Ministry of Education, Nanjing 210096, China
3.
Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, LE11 3TU, UK

Funds:

the National Natural Science Foundation of China 61573099

the National Natural Science Foundation of China 61633003

the National Natural Science Foundation of China 61750110525

the National Natural Science Foundation of China 61903192

Fundamental Research Funds for the Central Universities 2242016R30011

Graduate Innovation Program of Jiangsu Province KYLX15-0114

Scientific Research Foundation of Graduate School of Southeast University YBJJ1561

Key Laboratory of Measurement and Control of School of Computer Science and Engineering (CSE) MCCSE2017A01

Key Laboratory of Measurement and Control of School of Computer Science and Engineering (CSE) MCCSE2019A01

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Author Bio:

Zhenhua Zhao(M'19) received the B.Sc. degree from the School of Aeronautics, Northwestern Polytechnical University, Xi'an, China in 2012, and Ph.D. degree in control theory and control engineering from the School of Automation, Southeast University, Nanjing, China, in 2018. He is currently a Lecturer with the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics. His research interests include active disturbance rejection control, sliding mode control, model predictive control and their applications in flight control systems and bilateral control systems. (e-mail:zzh@nuaa.edu.cn)

Jun Yang (SM'18) received the B.Sc. degree from the Department of AutomaticControl, Northeastern University, Shenyang, China, in 2006, and thePh.D. degree in control theory and control engineering from theSchool of Automation, Southeast University, Nanjing, China, in 2011.He is currently an Associate Professor with the School ofAutomation, Southeast University. His current research interestsinclude disturbance estimation and compensation, advanced controltheory, and its application to flight control systems and motioncontrol systems. (e-mail: j.yang84@seu.edu.cn)

Shihua Li (SM'10) received the bachelor, master and Ph.D. degrees in automatic control from Southeast University, Nanjing, China, in 1995, 1998, and 2001, respectively. Since 2001, he has been with the School of Automation, Southeast University, where he is currently a Professor and the Director of the Mechatronic Systems Control Laboratory. His main research interests lie in modeling, analysis and nonlinear control theory with applications to mechatronic systems, including manipulator, robot, AC motor, power electronic systems and others. (e-mail: lsh@seu.edu.cn)

Wen-Hua Chen (F'18) received the M.Sc. and Ph.D. degrees from Northeast University, Shenyang China, in 1989 and 1991, respectively. He is currently a Professor with the Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, UK. His research interests include the development of advanced control strategies and their applications in aerospace and automotive engineering. Currently, much of his work is also involved in the development of unmanned autonomous intelligent systems.(email: w.chen@lboro.ac.uk)
Corresponding author:
Jun Yang, e-mail: j.yang84@seu.edu.cn
Received Date: 2018-01-06
Accepted Date: 2018-03-16

Abstract

Abstract

This paper presents a new composite nonlinear bilateral control method based on the nonlinear disturbance observer (NDOB) for teleoperation systems with external disturbances. By introducing the estimations of NDOB and systems' nominal nonlinear dynamics into controller design, a NDOB based composite nonlinear bilateral controller is constructed to attenuate the influence of disturbance and uncertain nonlinearities. As compared with the existing bilateral control methods which usually achieve force haptic (i.e., contact force tracking) through a passive way, the newly proposed method has two major merits: 1) asymptotical convergence of both position and force tracking errors is guaranteed; 2) disturbance influence on force tracking error dynamics is rejected through the direct feedforward compensation of disturbance estimation. Simulations on a nonlinear teleoperation system are carried out and the results validate the effectiveness of the proposed controller.
- Bilateral control,
- disturbance observer,
- force haptic,
- teleoperation

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References(22)

References

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Highlights

The bilateral control problem for the teleoperation systems with the aim of remote force haptic and local motion reproduction is firstly abstracted into the reference tracking control problem.
Asymptotical convergence of both position and force tracking errors is guaranteed for the teleoperation systems with external disturbances.
The disturbance influence on force tracking error dynamics is rejected through the direct feedforward compensation of disturbance estimation.

Composite Nonlinear Bilateral Control for Teleoperation Systems With External Disturbances

doi: 10.1109/JAS.2018.7511273

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通讯作者: 陈斌, bchen63@163.com

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