HapticV1, PascalFrancis, Corpus, bibRecord, 000377

Disturbance observer-based control of non-linear haptic teleoperation systems

Identifieur interne : 000377 ( PascalFrancis/Corpus ); précédent : 000376; suivant : 000378

Disturbance observer-based control of non-linear haptic teleoperation systems

Auteurs : A. Mohammadi ; M. Tavakoli ; H. J. Marquez

Source :

IET control theory & applications : (Print) [ 1751-8644 ] ; 2011.

RBID : Pascal:12-0053566

Descripteurs français

Pascal (Inist)
- Identification système, Observateur, Commande non linéaire, Téléopération, Commande linéaire, Système incertain, Rejet perturbation, Programme commande, Commande position, Erreur poursuite, Sensibilité tactile, Instabilité, Bilatéral, Relation maître esclave, Système non linéaire, Approximation asymptotique, Perturbation bornée.

English descriptors

KwdEn :
- Asymptotic approximation, Bilateral, Bounded perturbation, Control program, Disturbance rejection, Instability, Linear control, Master slave relationship, Non linear control, Non linear system, Observer, Position control, Remote operation, System identification, Tactile sensitivity, Tracking error, Uncertain system.

Abstract

Teleoperation systems are subject to different types of disturbances. Such disturbances, when unaccounted for, may cause poor performance and even instability of the teleoperation system. This study presents a novel non-linear bilateral control scheme using the concept of 'disturbance observer-based control' for non-linear teleoperation systems. Lumping the effects of dynamic uncertainties and external disturbances into a single disturbance term enables us to design a disturbance observer to suppress these disturbances and alleviate their adverse effects on the teleoperation system. A disturbance observer-based control law is proposed for non-linear teleoperation systems which will guarantee global asymptotic force tracking and global exponential position and disturbance tracking when the bilateral teleoperation system is experiencing slow-varying disturbances. In the case of fast-varying disturbances, the tracking errors are shown to be globally uniformly ultimately bounded, with an ultimate bound that can be made as small as desired using the design parameters. Simulations are presented to show the effectiveness of the proposed approach.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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Format Inist (serveur)

NO :	PASCAL 12-0053566 INIST
ET :	Disturbance observer-based control of non-linear haptic teleoperation systems
AU :	MOHAMMADI (A.); TAVAKOLI (M.); MARQUEZ (H. J.)
AF :	The Edward S. Rogers Sr. Department of Electrical and Computer Engineering, 10 King's College Road/Toronto, Ontario, M5S 3G4/Canada (1 aut.); Department of Electrical and Computer Engineering, University of Alberta/Edmonton, Alberta, T6G 2V4/Canada (2 aut., 3 aut.)
DT :	Publication en série; Niveau analytique
SO :	IET control theory & applications : (Print); ISSN 1751-8644; Royaume-Uni; Da. 2011; Vol. 5; No. 18; Pp. 2063-2074; Bibl. 33 ref.
LA :	Anglais
EA :	Teleoperation systems are subject to different types of disturbances. Such disturbances, when unaccounted for, may cause poor performance and even instability of the teleoperation system. This study presents a novel non-linear bilateral control scheme using the concept of 'disturbance observer-based control' for non-linear teleoperation systems. Lumping the effects of dynamic uncertainties and external disturbances into a single disturbance term enables us to design a disturbance observer to suppress these disturbances and alleviate their adverse effects on the teleoperation system. A disturbance observer-based control law is proposed for non-linear teleoperation systems which will guarantee global asymptotic force tracking and global exponential position and disturbance tracking when the bilateral teleoperation system is experiencing slow-varying disturbances. In the case of fast-varying disturbances, the tracking errors are shown to be globally uniformly ultimately bounded, with an ultimate bound that can be made as small as desired using the design parameters. Simulations are presented to show the effectiveness of the proposed approach.
CC :	001D02D05; 001D02D11; 001D02B04; 001D02D07
FD :	Identification système; Observateur; Commande non linéaire; Téléopération; Commande linéaire; Système incertain; Rejet perturbation; Programme commande; Commande position; Erreur poursuite; Sensibilité tactile; Instabilité; Bilatéral; Relation maître esclave; Système non linéaire; Approximation asymptotique; Perturbation bornée
ED :	System identification; Observer; Non linear control; Remote operation; Linear control; Uncertain system; Disturbance rejection; Control program; Position control; Tracking error; Tactile sensitivity; Instability; Bilateral; Master slave relationship; Non linear system; Asymptotic approximation; Bounded perturbation
SD :	Identificación sistema; Observador; Control no lineal; Teleacción; Control lineal; Sistema incierto; Recuazamiento pertubación; Programa mando; Regulación de la posición; Error persecusión; Sensibilidad tactil; Inestabilidad; Bilateral; Relación maestro esclavo; Sistema no lineal; Aproximación asintótica; Perturbación limitada
LO :	INIST-7573D.354000506053370020
ID :	12-0053566

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Pascal:12-0053566

Le document en format XML

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<s5>14</s5>
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<fC03 i1="10" i2="X" l="FRE"><s0>Erreur poursuite</s0>
<s5>15</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Tracking error</s0>
<s5>15</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Error persecusión</s0>
<s5>15</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>18</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>18</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>18</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Instabilité</s0>
<s5>19</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Instability</s0>
<s5>19</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Inestabilidad</s0>
<s5>19</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Bilatéral</s0>
<s5>20</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Bilateral</s0>
<s5>20</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Bilateral</s0>
<s5>20</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Relation maître esclave</s0>
<s5>21</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Master slave relationship</s0>
<s5>21</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Relación maestro esclavo</s0>
<s5>21</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Système non linéaire</s0>
<s5>28</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Non linear system</s0>
<s5>28</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Sistema no lineal</s0>
<s5>28</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Approximation asymptotique</s0>
<s5>29</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Asymptotic approximation</s0>
<s5>29</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Aproximación asintótica</s0>
<s5>29</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Perturbation bornée</s0>
<s5>30</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Bounded perturbation</s0>
<s5>30</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Perturbación limitada</s0>
<s5>30</s5>
</fC03>
<fN21><s1>030</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 12-0053566 INIST</NO>
<ET>Disturbance observer-based control of non-linear haptic teleoperation systems</ET>
<AU>MOHAMMADI (A.); TAVAKOLI (M.); MARQUEZ (H. J.)</AU>
<AF>The Edward S. Rogers Sr. Department of Electrical and Computer Engineering, 10 King's College Road/Toronto, Ontario, M5S 3G4/Canada (1 aut.); Department of Electrical and Computer Engineering, University of Alberta/Edmonton, Alberta, T6G 2V4/Canada (2 aut., 3 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>IET control theory & applications : (Print); ISSN 1751-8644; Royaume-Uni; Da. 2011; Vol. 5; No. 18; Pp. 2063-2074; Bibl. 33 ref.</SO>
<LA>Anglais</LA>
<EA>Teleoperation systems are subject to different types of disturbances. Such disturbances, when unaccounted for, may cause poor performance and even instability of the teleoperation system. This study presents a novel non-linear bilateral control scheme using the concept of 'disturbance observer-based control' for non-linear teleoperation systems. Lumping the effects of dynamic uncertainties and external disturbances into a single disturbance term enables us to design a disturbance observer to suppress these disturbances and alleviate their adverse effects on the teleoperation system. A disturbance observer-based control law is proposed for non-linear teleoperation systems which will guarantee global asymptotic force tracking and global exponential position and disturbance tracking when the bilateral teleoperation system is experiencing slow-varying disturbances. In the case of fast-varying disturbances, the tracking errors are shown to be globally uniformly ultimately bounded, with an ultimate bound that can be made as small as desired using the design parameters. Simulations are presented to show the effectiveness of the proposed approach.</EA>
<CC>001D02D05; 001D02D11; 001D02B04; 001D02D07</CC>
<FD>Identification système; Observateur; Commande non linéaire; Téléopération; Commande linéaire; Système incertain; Rejet perturbation; Programme commande; Commande position; Erreur poursuite; Sensibilité tactile; Instabilité; Bilatéral; Relation maître esclave; Système non linéaire; Approximation asymptotique; Perturbation bornée</FD>
<ED>System identification; Observer; Non linear control; Remote operation; Linear control; Uncertain system; Disturbance rejection; Control program; Position control; Tracking error; Tactile sensitivity; Instability; Bilateral; Master slave relationship; Non linear system; Asymptotic approximation; Bounded perturbation</ED>
<SD>Identificación sistema; Observador; Control no lineal; Teleacción; Control lineal; Sistema incierto; Recuazamiento pertubación; Programa mando; Regulación de la posición; Error persecusión; Sensibilidad tactil; Inestabilidad; Bilateral; Relación maestro esclavo; Sistema no lineal; Aproximación asintótica; Perturbación limitada</SD>
<LO>INIST-7573D.354000506053370020</LO>
<ID>12-0053566</ID>
</server>
</inist>
</record>

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Disturbance observer-based control of non-linear haptic teleoperation systems

Disturbance observer-based control of non-linear haptic teleoperation systems

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