Robust Stability of Scaled-Four-Channel Teleoperation with Internet Time-Varying Delays
Identifieur interne : 000086 ( Main/Merge ); précédent : 000085; suivant : 000087Robust Stability of Scaled-Four-Channel Teleoperation with Internet Time-Varying Delays
Auteurs : Emma Delgado ; Antonio Barreiro ; Pablo Falc N ; Miguel Díaz-CachoSource :
- Sensors (Basel, Switzerland) [ 1424-8220 ] ; 2016.
Abstract
We describe the application of a generic stability framework for a teleoperation system under time-varying delay conditions, as addressed in a previous work, to a scaled-four-channel (γ-4C) control scheme. Described is how varying delays are dealt with by means of dynamic encapsulation, giving rise to mu-test conditions for robust stability and offering an appealing frequency technique to deal with the stability robustness of the architecture. We discuss ideal transparency problems and we adapt classical solutions so that controllers are proper, without single or double differentiators, and thus avoid the negative effects of noise. The control scheme was fine-tuned and tested for complete stability to zero of the whole state, while seeking a practical solution to the trade-off between stability and transparency in the Internet-based teleoperation. These ideas were tested on an Internet-based application with two Omni devices at remote laboratory locations via simulations and real remote experiments that achieved robust stability, while performing well in terms of position synchronization and force transparency.
Url:
DOI: 10.3390/s16050593
PubMed: 27128914
PubMed Central: 4883284
Links toward previous steps (curation, corpus...)
- to stream Pmc, to step Corpus: 000578
- to stream Pmc, to step Curation: 000578
- to stream Pmc, to step Checkpoint: 000049
- to stream Ncbi, to step Merge: 004199
- to stream Ncbi, to step Curation: 004199
- to stream Ncbi, to step Checkpoint: 004199
Links to Exploration step
PMC:4883284Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Robust Stability of Scaled-Four-Channel Teleoperation with Internet Time-Varying Delays</title><author><name sortKey="Delgado, Emma" sort="Delgado, Emma" uniqKey="Delgado E" first="Emma" last="Delgado">Emma Delgado</name><affiliation><nlm:aff id="af1-sensors-16-00593">School of Industrial Engineering, University of Vigo, 36310 Vigo, Spain;<email>abarreiro@uvigo.es</email> (A.B.);<email>pfalcon@uvigo.es</email> (P.F.)</nlm:aff></affiliation></author><author><name sortKey="Barreiro, Antonio" sort="Barreiro, Antonio" uniqKey="Barreiro A" first="Antonio" last="Barreiro">Antonio Barreiro</name><affiliation><nlm:aff id="af1-sensors-16-00593">School of Industrial Engineering, University of Vigo, 36310 Vigo, Spain;<email>abarreiro@uvigo.es</email> (A.B.);<email>pfalcon@uvigo.es</email> (P.F.)</nlm:aff></affiliation></author><author><name sortKey="Falc N, Pablo" sort="Falc N, Pablo" uniqKey="Falc N P" first="Pablo" last="Falc N">Pablo Falc N</name><affiliation><nlm:aff id="af1-sensors-16-00593">School of Industrial Engineering, University of Vigo, 36310 Vigo, Spain;<email>abarreiro@uvigo.es</email> (A.B.);<email>pfalcon@uvigo.es</email> (P.F.)</nlm:aff></affiliation></author><author><name sortKey="Diaz Cacho, Miguel" sort="Diaz Cacho, Miguel" uniqKey="Diaz Cacho M" first="Miguel" last="Díaz-Cacho">Miguel Díaz-Cacho</name><affiliation><nlm:aff id="af2-sensors-16-00593">School of Computer Engineering, University of Vigo, 32004 Orense, Spain;<email>mcacho@uvigo.es</email></nlm:aff></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">27128914</idno><idno type="pmc">4883284</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4883284</idno><idno type="RBID">PMC:4883284</idno><idno type="doi">10.3390/s16050593</idno><date when="2016">2016</date><idno type="wicri:Area/Pmc/Corpus">000578</idno><idno type="wicri:Area/Pmc/Curation">000578</idno><idno type="wicri:Area/Pmc/Checkpoint">000049</idno><idno type="wicri:Area/Ncbi/Merge">004199</idno><idno type="wicri:Area/Ncbi/Curation">004199</idno><idno type="wicri:Area/Ncbi/Checkpoint">004199</idno><idno type="wicri:Area/Main/Merge">000086</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Robust Stability of Scaled-Four-Channel Teleoperation with Internet Time-Varying Delays</title><author><name sortKey="Delgado, Emma" sort="Delgado, Emma" uniqKey="Delgado E" first="Emma" last="Delgado">Emma Delgado</name><affiliation><nlm:aff id="af1-sensors-16-00593">School of Industrial Engineering, University of Vigo, 36310 Vigo, Spain;<email>abarreiro@uvigo.es</email> (A.B.);<email>pfalcon@uvigo.es</email> (P.F.)</nlm:aff></affiliation></author><author><name sortKey="Barreiro, Antonio" sort="Barreiro, Antonio" uniqKey="Barreiro A" first="Antonio" last="Barreiro">Antonio Barreiro</name><affiliation><nlm:aff id="af1-sensors-16-00593">School of Industrial Engineering, University of Vigo, 36310 Vigo, Spain;<email>abarreiro@uvigo.es</email> (A.B.);<email>pfalcon@uvigo.es</email> (P.F.)</nlm:aff></affiliation></author><author><name sortKey="Falc N, Pablo" sort="Falc N, Pablo" uniqKey="Falc N P" first="Pablo" last="Falc N">Pablo Falc N</name><affiliation><nlm:aff id="af1-sensors-16-00593">School of Industrial Engineering, University of Vigo, 36310 Vigo, Spain;<email>abarreiro@uvigo.es</email> (A.B.);<email>pfalcon@uvigo.es</email> (P.F.)</nlm:aff></affiliation></author><author><name sortKey="Diaz Cacho, Miguel" sort="Diaz Cacho, Miguel" uniqKey="Diaz Cacho M" first="Miguel" last="Díaz-Cacho">Miguel Díaz-Cacho</name><affiliation><nlm:aff id="af2-sensors-16-00593">School of Computer Engineering, University of Vigo, 32004 Orense, Spain;<email>mcacho@uvigo.es</email></nlm:aff></affiliation></author></analytic><series><title level="j">Sensors (Basel, Switzerland)</title><idno type="eISSN">1424-8220</idno><imprint><date when="2016">2016</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>We describe the application of a generic stability framework for a teleoperation system under time-varying delay conditions, as addressed in a previous work, to a scaled-four-channel (γ-4C) control scheme. Described is how varying delays are dealt with by means of dynamic encapsulation, giving rise to mu-test conditions for robust stability and offering an appealing frequency technique to deal with the stability robustness of the architecture. We discuss ideal transparency problems and we adapt classical solutions so that controllers are proper, without single or double differentiators, and thus avoid the negative effects of noise. The control scheme was fine-tuned and tested for complete stability to zero of the whole state, while seeking a practical solution to the trade-off between stability and transparency in the Internet-based teleoperation. These ideas were tested on an Internet-based application with two Omni devices at remote laboratory locations via simulations and real remote experiments that achieved robust stability, while performing well in terms of position synchronization and force transparency.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Lawrence, D A" uniqKey="Lawrence D">D.A. Lawrence</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Arcara, P" uniqKey="Arcara P">P. Arcara</name></author><author><name sortKey="Melchiorri, C" uniqKey="Melchiorri C">C. Melchiorri</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Anderson, R" uniqKey="Anderson R">R. Anderson</name></author><author><name sortKey="Spong, M" uniqKey="Spong M">M. Spong</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hashtrudi Zaad, K" uniqKey="Hashtrudi Zaad K">K. Hashtrudi-Zaad</name></author><author><name sortKey="Salcudean, S E" uniqKey="Salcudean S">S.E. Salcudean</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Niemeyer, G" uniqKey="Niemeyer G">G. Niemeyer</name></author><author><name sortKey="Slotline, J J" uniqKey="Slotline J">J.J. Slotline</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Delgado, E" uniqKey="Delgado E">E. Delgado</name></author><author><name sortKey="Diaz Cacho, M" uniqKey="Diaz Cacho M">M. Díaz-Cacho</name></author><author><name sortKey="Barreiro, A" uniqKey="Barreiro A">A. Barreiro</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Delgado, E" uniqKey="Delgado E">E. Delgado</name></author><author><name sortKey="Diaz Cacho, M" uniqKey="Diaz Cacho M">M. Díaz-Cacho</name></author><author><name sortKey="Bustelo, D" uniqKey="Bustelo D">D. Bustelo</name></author><author><name sortKey="Barreiro, A" uniqKey="Barreiro A">A. Barreiro</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Diaz Cacho, M" uniqKey="Diaz Cacho M">M. Díaz-Cacho</name></author><author><name sortKey="Delgado, E" uniqKey="Delgado E">E. Delgado</name></author><author><name sortKey="Prieto, J A G" uniqKey="Prieto J">J.A.G. Prieto</name></author><author><name sortKey="L Pez, J" uniqKey="L Pez J">J. López</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Natori, K" uniqKey="Natori K">K. Natori</name></author><author><name sortKey="Tsuji, T" uniqKey="Tsuji T">T. Tsuji</name></author><author><name sortKey="Ohnishi, K" uniqKey="Ohnishi K">K. Ohnishi</name></author><author><name sortKey="Hace, A" uniqKey="Hace A">A. Hace</name></author><author><name sortKey="Jezernik, K" uniqKey="Jezernik K">K. Jezernik</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Delgado, E" uniqKey="Delgado E">E. Delgado</name></author><author><name sortKey="Barreiro, A" uniqKey="Barreiro A">A. Barreiro</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Delgado, E" uniqKey="Delgado E">E. Delgado</name></author><author><name sortKey="Diaz Cacho, M" uniqKey="Diaz Cacho M">M. Diaz-Cacho</name></author><author><name sortKey="Bustelo, D" uniqKey="Bustelo D">D. Bustelo</name></author><author><name sortKey="Barreiro, A" uniqKey="Barreiro A">A. Barreiro</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Hokayem, P F" uniqKey="Hokayem P">P.F. Hokayem</name></author><author><name sortKey="Spong, M W" uniqKey="Spong M">M.W. Spong</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Chopra, N" uniqKey="Chopra N">N. Chopra</name></author><author><name sortKey="Spong, M W" uniqKey="Spong M">M.W. Spong</name></author><author><name sortKey="Lozano, R" uniqKey="Lozano R">R. Lozano</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Fernandez, A" uniqKey="Fernandez A">A. Fernández</name></author><author><name sortKey="Barreiro, A" uniqKey="Barreiro A">A. Barreiro</name></author><author><name sortKey="Carrasco, J" uniqKey="Carrasco J">J. Carrasco</name></author><author><name sortKey="Ba Os, A" uniqKey="Ba Os A">A. Baños</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Nu O, E" uniqKey="Nu O E">E. Nuño</name></author><author><name sortKey="Basa Ez, L" uniqKey="Basa Ez L">L. Basañez</name></author><author><name sortKey="Ortega, R" uniqKey="Ortega R">R. Ortega</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Aziminejad, A" uniqKey="Aziminejad A">A. Aziminejad</name></author><author><name sortKey="Tavakoli, M" uniqKey="Tavakoli M">M. Tavakoli</name></author><author><name sortKey="Patel, R V" uniqKey="Patel R">R.V. Patel</name></author><author><name sortKey="Moallem, M" uniqKey="Moallem M">M. Moallem</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Suzuki, A" uniqKey="Suzuki A">A. Suzuki</name></author><author><name sortKey="Ohnishi, K" uniqKey="Ohnishi K">K. Ohnishi</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Suzuki, A" uniqKey="Suzuki A">A. Suzuki</name></author><author><name sortKey="Ohnishi, K" uniqKey="Ohnishi K">K. Ohnishi</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Zhang, X M" uniqKey="Zhang X">X.-M. Zhang</name></author><author><name sortKey="Han, Q L" uniqKey="Han Q">Q.-L. Han</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Zhang, X M" uniqKey="Zhang X">X.-M. Zhang</name></author><author><name sortKey="Han, Q L" uniqKey="Han Q">Q.-L. Han</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Dashkovskiy, S" uniqKey="Dashkovskiy S">S. Dashkovskiy</name></author><author><name sortKey="Kosmykov, M" uniqKey="Kosmykov M">M. Kosmykov</name></author><author><name sortKey="Wirth, F" uniqKey="Wirth F">F. Wirth</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Delgado, E" uniqKey="Delgado E">E. Delgado</name></author><author><name sortKey="Diaz Cacho, M" uniqKey="Diaz Cacho M">M. Diaz-Cacho</name></author><author><name sortKey="Falcon, P" uniqKey="Falcon P">P. Falcon</name></author><author><name sortKey="Barreiro, A" uniqKey="Barreiro A">A. Barreiro</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Shigeru, S" uniqKey="Shigeru S">S. Shigeru</name></author><author><name sortKey="Natori, K" uniqKey="Natori K">K. Natori</name></author><author><name sortKey="Ohnishi, K" uniqKey="Ohnishi K">K. Ohnishi</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Jonghyun, K" uniqKey="Jonghyun K">K. Jonghyun</name></author><author><name sortKey="Chang, P H" uniqKey="Chang P">P.H. Chang</name></author><author><name sortKey="Park, H S" uniqKey="Park H">H.-S. Park</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Delgado, E" uniqKey="Delgado E">E. Delgado</name></author><author><name sortKey="Falcon, P" uniqKey="Falcon P">P. Falcon</name></author><author><name sortKey="Diaz Cacho, M" uniqKey="Diaz Cacho M">M. Diaz-Cacho</name></author><author><name sortKey="Barreiro, A" uniqKey="Barreiro A">A. Barreiro</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Rebelo, J" uniqKey="Rebelo J">J. Rebelo</name></author><author><name sortKey="Schiele, A" uniqKey="Schiele A">A. Schiele</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Meng, X" uniqKey="Meng X">X. Meng</name></author><author><name sortKey="Lam, J" uniqKey="Lam J">J. Lam</name></author><author><name sortKey="Du, B" uniqKey="Du B">B. Du</name></author><author><name sortKey="Gao, H" uniqKey="Gao H">H. Gao</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Da, S" uniqKey="Da S">S. Da</name></author><author><name sortKey="Naghdy, F" uniqKey="Naghdy F">F. Naghdy</name></author><author><name sortKey="Du, H" uniqKey="Du H">H. Du</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Kao, C Y" uniqKey="Kao C">C.Y. Kao</name></author><author><name sortKey="Rantzer, A" uniqKey="Rantzer A">A. Rantzer</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Skogestad, S" uniqKey="Skogestad S">S. Skogestad</name></author><author><name sortKey="Postlethwaite, I" uniqKey="Postlethwaite I">I. Postlethwaite</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Huang, J" uniqKey="Huang J">J. Huang</name></author><author><name sortKey="Shi, Y" uniqKey="Shi Y">Y. Shi</name></author><author><name sortKey="Wu, J" uniqKey="Wu J">J. Wu</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Islam, S" uniqKey="Islam S">S. Islam</name></author><author><name sortKey="Liu, P X" uniqKey="Liu P">P.X. Liu</name></author><author><name sortKey="El Saddik, A" uniqKey="El Saddik A">A. El Saddik</name></author><author><name sortKey="Yang, Y B" uniqKey="Yang Y">Y.B. Yang</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Polat, I" uniqKey="Polat I">I. Polat</name></author><author><name sortKey="Scherer, C W" uniqKey="Scherer C">C.W. Scherer</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Tugal, H" uniqKey="Tugal H">H. Tugal</name></author><author><name sortKey="Carrasco, J" uniqKey="Carrasco J">J. Carrasco</name></author><author><name sortKey="Maya Gonzalez, M" uniqKey="Maya Gonzalez M">M. Maya-Gonzalez</name></author></analytic></biblStruct></listBibl></div1></back></TEI></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Merge
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000086 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Merge/biblio.hfd -nk 000086 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Merge
|type= RBID
|clé= PMC:4883284
|texte= Robust Stability of Scaled-Four-Channel Teleoperation with Internet Time-Varying Delays
}}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Merge/RBID.i -Sk "pubmed:27128914" \
| HfdSelect -Kh $EXPLOR_AREA/Data/Main/Merge/biblio.hfd \
| NlmPubMed2Wicri -a HapticV1
| This area was generated with Dilib version V0.6.23. |  |