A Composite State Convergence Scheme for Bilateral Teleoperation Systems

Muhammad Usman Asad; Umar Farooq; Jason Gu; Ghulam Abbas; Rong Liu; Valentina E. Balas

doi:10.1109/JAS.2019.1911690

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): 1166-1178

Muhammad Usman Asad, Umar Farooq, Jason Gu, Ghulam Abbas, Rong Liu and Valentina E. Balas, "A Composite State Convergence Scheme for Bilateral Teleoperation Systems," IEEE/CAA J. Autom. Sinica, vol. 6, no. 5, pp. 1166-1178, Sept. 2019. doi: 10.1109/JAS.2019.1911690

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Muhammad Usman Asad, Umar Farooq, Jason Gu, Ghulam Abbas, Rong Liu and Valentina E. Balas, "A Composite State Convergence Scheme for Bilateral Teleoperation Systems," IEEE/CAA J. Autom. Sinica, vol. 6, no. 5, pp. 1166-1178, Sept. 2019. doi: 10.1109/JAS.2019.1911690

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A Composite State Convergence Scheme for Bilateral Teleoperation Systems

doi: 10.1109/JAS.2019.1911690

Funds: This work was supported by the Natural Sciences and Engineering Research Council of Canada (NSERC)

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Author Bio:
M. Usman Asad received the B.Sc. and M.Sc. degrees in electrical engineering from the University of the Punjab Lahore and the G.C. University Lahore in 2010 and 2015 respectively. He is currently pursuing Ph.D. studies at the Department of Electrical Engineering, Dalhousie University, Canada. He served as President of Society of Engineering Excellence (2009) at Electrical Engineering Department University of the Punjab Lahore during the year 2009 and contributed in the research activities of the society. He was the recipient of Gold Medal award for his paper on Ball Scoring Robot in 24th IEEEP International Multi-topic Symposium, 2009 and Silver Medal award for his paper on Neural Controller for Robot Navigation in 26th IEEEP International Multi-topic Symposium, 2011. He has more than 6 years of teaching and research experience and has published a number of papers in peer reviewed IEEE conferences and international journals. His research interests include the intelligent control of robotics and power systems

Umar Farooq received the B.Sc. and M.Sc. degress in electrical engineering from the University of Engineering & Technology Lahore, Pakitan in 2004 and 2011 respectively and the Ph.D. degree in electrical engineering from Dalhousie University, Canada in 2018. While employed at University of the Punjab Lahore, he taught a number of junior and senior level courses to the undergrad students. He also established the Society of Engineering Excellence at the department to promote research activities amongst the undergrad students with the generous support of Vice-Chancellor, Prof. Mujahid Kamran. In addition, he supervised more than thirty senior year design projects and also supervised the students in various technical design contests including the hardware projects exhibition, microcontroller interfacing, circuit designing, technical paper arranged by IEEE, IET, ACM and other society chapters in Pakistan and won more than seventy five awards in these contests for University of The Punjab Lahore in a period of four years, 2008–2012. He has published a number of papers in peer reviewed international conferences and journals. His research interests include the application of intelligent control techniques to problems in robotics, biomedical engineering, power electronics and power systems. Dr. Farooq was recipient of 2017 Dalhousie Faculty of Engineering Excellence Award, and 2017 and 2018 Nova Scotia Graduate Scholar Awards

Jason Gu received the bachelor degree in electrical engineering and information science at the University of Science and Technology of China in 1992, the master degree in biomedical engineering at Shanghai Jiaotong University in 1995, and Ph.D. degree from University of Alberta in Canada in 2001. He is currently a Full Professor in Electrical and Computer Engineering at Dalhousie University in Canada. He is also a cross-appointed Professor in School of Biomedical Engineering for his multidisciplinary research work. Dr. Gu’s research areas include robotics, biomedical engineering, rehabilitation engineering, neural networks, and control. He has over nineteen years research and teaching experience and has published over 260 conference papers and articles. He has been the associate editor for Journal of Control and Intelligent Systems, Transactions on CSME, Canada IEEE Transaction on Mechatronics, International Journal of Robotics and Automation, Unmanned Systems, Journal of Engineering and Emerging Technologies and IEEE Access. Dr. Gu is a Fellow of the Engineering Institute of Canada

Ghulam Abbas received the B.E. degree in electrical engineering from the University of Engineering and Technology, Lahore Pakistan in 2004, and the M.E. and the Ph.D. degrees in electrical engineering from Institut National des Sciences Appliquées (INSA) de Lyon, France in 2008 and 2012 respectively. He is currently with Department of Electrical Engineering at the University of Lahore, Lahore, Pakistan. He has published a number of papers in various IEEE conferences and international journals. His research interests include analog as well as digital controller designs for power switching converters and robotics applications

Rong Liu received the B.S. and M.S. degrees from HuaQiao University, Quanzhou, China, in 2000 and 2003, respectively, and the Ph.D. degree from the Chinese University of Hong Kong, in 2006. All degrees are in electrical engineering. From 2006 to 2011, she was an Assistant Professor with the Department of Biomedical Engineering, Dalian University of Technology, Dalian, China, where she has been an Associate Professor since 2011. From 2010 to 2011, she was a Research Scientist with the Neuroengineering Laboratory, Department of Biomedical Engineering, School of Medicine, John Hopkins University, Baltimore, MD, USA. She has authored over 30 articles and holds two patents. Her current research interests include biorobotics, biomedical signal processing, rehabilitation engineering, neuroengineering, and brain–machine interface. Dr. Liu was a recipient of the Fujian Provincial Excellent Student Award in 2000, the CNLink Scholarship for Overseas Collaborative Research in 2005, the Outstanding Female Faculty Award in 2007, the Natural Science Academic Achievement Award of Dalian in 2008 and 2013, and the Liaoning Provincial Natural Science Academic Achievement Award in 2011

Valentina E. Balas is currently Full Professor in the Department of Automatics and Applied Software at the Faculty of Engineering, “Aurel Vlaicu” University of Arad, Romania. She holds a Ph.D. in Applied Electronics and Telecommunications from Polytechnic University of Timisoara. Dr. Balas is author of more than 250 research papers in refereed journals and International Conferences. Her research interests are in intelligent systems, fuzzy control, soft computing, smart sensors, information fusion, modeling and simulation. She is the Editor-in-Chief to International Journal of Advanced Intelligence Paradigms (IJAIP) and to International Journal of Computational Systems Engineering (IJCSysE), Member of several national and international journals and is evaluator expert for national, international projects and PhD Thesis. Dr. Balas is the Director of Intelligent Systems Research Centre in Aurel Vlaicu University of Arad. She served as General Chair of the International Workshop Soft Computing and Applications (SOFA) in seven editions 2005–2016 held in Romania and Hungary. Dr. Balas participated in many international conferences as Organizer, Honorary Chair, Session Chair and member in Steering, Advisory or International Program Committees. She is a member of EUSFLAT, SIAM and a Senior Member IEEE, member in TC-Fuzzy Systems (IEEE CIS), member in TC-Emergent Technologies (IEEE CIS), member in TC-Soft Computing (IEEE SMCS). Dr. Balas was past Vice-president (Awards) of IFSA International Fuzzy Systems Association Council (2013–2015) and is a Joint Secretary of the Governing Council of Forum for Interdisciplinary Mathematics (FIM)
Corresponding author: U. Farooq is with the Department of Electrical & Computer Engineering, Dalhousie University, N.S., Canada and also with the Department of Electrical Engineering, University of the Punjab Lahore, Pakistan (e-mail:engr.umarfarooq@yahoo.com)
Received Date: 2019-04-27
Accepted Date: 2019-06-18

Available Online: 2019-07-06

Abstract

Abstract

State convergence is a novel control algorithm for bilateral teleoperation of robotic systems. First, it models the teleoperation system on state space and considers all the possible interactions between the master and slave systems. Second, it presents an elegant design procedure which requires a set of equations to be solved in order to compute the control gains of the bilateral loop. These design conditions are obtained by turning the master-slave error into an autonomous system and imposing the desired dynamic behavior of the teleoperation system. Resultantly, the convergence of master and slave states is achieved in a well-defined manner. The present study aims at achieving a similar convergence behavior offered by state convergence controller while reducing the number of variables sent across the communication channel. The proposal suggests transmitting composite master and slave variables instead of full master and slave states while keeping the operator’s force channel intact. We show that, with these composite and force variables; it is indeed possible to achieve the convergence of states in a desired way by strictly following the method of state convergence. The proposal leads to a reduced complexity state convergence algorithm which is termed as composite state convergence controller. In order to validate the proposed scheme in the absence and presence of communication time delays, MATLAB simulations and semi-real time experiments are performed on a single degree-of-freedom teleoperation system.
- Composite variables,
- linear control systems,
- state convergence,
- teleoperation,
- time delay

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References

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A Lower Complexity State Convergence Architecture with Reduced Number of Communication Channels for Bilateral Communication.
Application of Method of State Convergence to Compute the Control Gains and Achieving the Desired Behavior also.
Simulation and Semi Real Time Experiments to Validate the Proposal.
Comparison with an Equal Complexity Error Force Compensated Scheme (Equal Number of Communication Channels).

A Composite State Convergence Scheme for Bilateral Teleoperation Systems

doi: 10.1109/JAS.2019.1911690

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通讯作者: 陈斌, bchen63@163.com

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