Haptic teleoperation under variable delay and actuator saturation

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Hashemzadeh F., Tavakoli M., Hassanzadeh I.

2013 IEEE World Haptics Conference, WHC 2013, Daejeon, South Korea, 14 - 17 April 2013, pp.377-382 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/whc.2013.6548438
  • City: Daejeon
  • Country: South Korea
  • Page Numbers: pp.377-382
  • Keywords: actuator saturation, asymptotic stability, Nonlinear teleoperation, sandwich linearity, varying time delay
  • Istanbul Technical University Affiliated: No


In this paper, a novel control scheme is proposed to guarantee global asymptotic stability of bilateral teleoperation systems that are subject to time-varying time delays in their communication channel and 'sandwich linearity' in their actuators. This extends prior art concerning control of nonlinear bilateral teleoperation systems under time-varying time delays to the case where the local and the remote robots' control signals pass through saturation or similar nonlinearities that belong to a class of systems we name sandwich linear systems. We call the proposed method nonlinear proportional plus damping (nP+ D). The asymptotic stability of the closed-loop system is established using a Lyapunov-Krasovskii functional under conditions on the controller parameters, the actuator saturation characteristics, and the maximum values of the time-varying time delays. The controller is experimentally validated on a pair of 3-DOF PHANToM Premium 1.5A robots, which have limited actuation capacity, that form a teleoperation system with a varying-delay communication channel. © 2013 IEEE.