Experimental Evaluation of Novel Master-Slave Configurations for Position Control under Random Network Delay and Variable Load for Teleoperation

Ahmet Kuzu,Metin Gokasan,Asif Sabanovic,Seta Bogosyan

doi:10.1155/2014/608208

Abstract

This paper proposes two novel master-slave configurations that provide improvements in both control and communication aspects of teleoperation systems to achieve an overall improved performance in position control. The proposed novel master-slave configurations integrate modular control and communication approaches, consisting of a delay regulator to address problems related to variable network delay common to such systems, and a model tracking control that runs on the slave side for the compensation of uncertainties and model mismatch on the slave side. One of the configurations uses a sliding mode observer and the other one uses a modified Smith predictor scheme on the master side to ensure position transparency between the master and slave, while reference tracking of the slave is ensured by a proportional-differentiator type controller in both configurations. Experiments conducted for the networked position control of a single-link arm under system uncertainties and randomly varying network delays demonstrate significant performance improvements with both configurations over the past literature.

Highlights

This paper proposes two novel master-slave configurations that provide improvements in both control and communication aspects of teleoperation systems to achieve an overall improved performance in position control
Teleoperation and bilateral control systems have been attracting significant interest due to their potential to contribute to human life, that is, teleoperated robots that contribute to safety and security in hazardous environments or exploration in remote areas or medical robots that can perform telesurgery [1]
This delay is constant with the use of the delay regulator, which is demonstrated to significantly improve the performance of the sliding mode observer (SMO) compared to past studies of the authors, together with the use of the proposed model following controller

Summary

Introduction

Teleoperation and bilateral control systems have been attracting significant interest due to their potential to contribute to human life, that is, teleoperated robots that contribute to safety and security in hazardous environments or exploration in remote areas or medical robots that can perform telesurgery [1]. The scattering variables approach [2] is a passivity based approach, using transmission line theories In this approach, the data transfer between systems is designed in a way to avoid losses, ensuring passivity. The wave variables method in [3] is derived from the scattering variables theory, based on the addition of a damping term to ensure stability in terms of passivity. In this method, transparency and stability are conflicting performance parameters. This issue is often addressed by the adaptive tuning of damping

Methods

Results

Conclusion