Bilateral Teleoperation System in the Presence of Non-passive Interaction Forces and Actuators Fault

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EBRAHIMI BAVILI ROBAB; AKBARI AHMAD; MAHBOOBI ESFANJANI REZA

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Journal Paper

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Journal: Journal of Control Year:2021 | Volume:14 | Issue:4 Page(s): 43-54

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Information Journal Paper

Title

Bilateral Teleoperation System in the Presence of Non-passive Interaction Forces and Actuators Fault

Author(s)

EBRAHIMI BAVILI ROBAB | AKBARI AHMAD | MAHBOOBI ESFANJANI REZA | Issue Writer Certificate

Keywords

Bilateral Teleoperation system

Non-passive Interaction Forces

Actuator Fault

Asymptotic Stability and Position and Force Tracking

Abstract

This paper addresses the asymptotic stability, position and force tracking problem in the nonlinear Bilateral Teleoperation system in the presence of Non-passive Interaction Forces, varying time-delay in communication channel and actuators fault occurrence. For this aim, a passive Fault Tolerant Control (FTC) law is presented which uses the joint positions and velocities of local and remote manipulators to reach control ends. Using the Lyapunov-Krasovskii theorem, sufficient conditions for asymptotic stability and position tracking are derived in terms of Linear Matrix Inequalities (LMIs), to tune controller parameters. The main contribution of the proposed method is that can compensate the bias fault and loss of effectiveness of actuators in nonlinear teleoperation system. Also the asymptotic stability of positions errors in the system with Non-passive Interaction Forces is assured using the integral control. Simulation results of teleoperation system with 2 and 3 degree of freedom manipulators with proposed method and comparison to some rival method show the effectiveness and advantages of the proposed method.

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APA: Copy

EBRAHIMI BAVILI, ROBAB, AKBARI, AHMAD, & MAHBOOBI ESFANJANI, REZA. (2021). Bilateral Teleoperation System in the Presence of Non-passive Interaction Forces and Actuators Fault. JOURNAL OF CONTROL, 14(4 ), 43-54. SID. https://sid.ir/paper/963177/en

Vancouver: Copy

EBRAHIMI BAVILI ROBAB, AKBARI AHMAD, MAHBOOBI ESFANJANI REZA. Bilateral Teleoperation System in the Presence of Non-passive Interaction Forces and Actuators Fault. JOURNAL OF CONTROL[Internet]. 2021;14(4 ):43-54. Available from: https://sid.ir/paper/963177/en

IEEE: Copy

ROBAB EBRAHIMI BAVILI, AHMAD AKBARI, and REZA MAHBOOBI ESFANJANI, “Bilateral Teleoperation System in the Presence of Non-passive Interaction Forces and Actuators Fault,” JOURNAL OF CONTROL, vol. 14, no. 4 , pp. 43–54, 2021, [Online]. Available: https://sid.ir/paper/963177/en

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