Nonlinear Control of Bilateral Teleoperators Interacting Non-passive Termination Forces

Document Type : Research Article


1 Sahand University of Technology

2 Sahand University of Technology,


   In this paper, an interconnection and damping assignment passivity based controller is developed for nonlinear bilateral teleoperation system. The aim is to track the position and force in the teleoperation system in the presence of non-passive external interactions and asymmetric variable time-delay in the communication channel.  For this end, a nonlinear control law is designed based on the notion of time-delay Port-Hamiltonian systems for unforced teleoperator and the Lyapunov-Krasovskii theorem. Sufficient synthesis conditions are derived in terms of linear matrix inequalities to tune the parameters of controller. Then, by Lyapunov redesign scheme, an auxiliary controller is developed to assure the stable position tracking in the presence of non-passive operator and/or environment. The main contribution of the proposed method is that the stability and position tracking of system is attained via a fixed-structure controller in the presence of non-passive interaction forces without need to their dynamical models and force sensor. Since the proposed design conditions include the upper bounds of the varying time-delays and their rates; they are less conservative than some rival methods in literature. Finally, transparency of the proposed scheme is proved. Simulation results on a 2-degree of freedom teleoperation system are compared to rival methods to demonstrate the merits of the proposed strategy.


Main Subjects

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