Adaptive control for bilateral teleoperation systems with time-varying delays

Yeong Hwa Chang; Cheng Yuan Yang; Hung Wei Lin

doi:10.1109/ICASI.2018.8394475

Adaptive control for bilateral teleoperation systems with time-varying delays

Yeong Hwa Chang
, Cheng Yuan Yang
, Hung Wei Lin

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

This paper presents a sliding-mode based controller for teleoperation systems with unknown uncertainties and time-varying delays. Adaptive laws are proposed to deal with the unknown but bounded uncertainties. Moreover, the allowable bound of delays can be obtained by solving a linear matrix inequality. By Lyapunov-Krasovskii functional analysis, the closed-loop stability is guaranteed. Both simulation and experimental results are provided for performance validations and comparisons. It is indicated that the proposed adaptive control scheme can provide better position tracking and force perception for master-slave teleoperation systems.

Original language	English
Title of host publication	Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018
Editors	Artde Donald Kin-Tak Lam, Stephen D. Prior, Teen-Hang Meen
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1111-1114
Number of pages	4
ISBN (Electronic)	9781538643426
DOIs	https://doi.org/10.1109/ICASI.2018.8394475
State	Published - 22 06 2018
Event	4th IEEE International Conference on Applied System Innovation, ICASI 2018 - Chiba, Japan Duration: 13 04 2018 → 17 04 2018

Publication series

Name	Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018

Conference

Conference	4th IEEE International Conference on Applied System Innovation, ICASI 2018
Country/Territory	Japan
City	Chiba
Period	13/04/18 → 17/04/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

Keywords

Teleoperation system
adaptive control
sliding-mode control
time delays

Access to Document

10.1109/ICASI.2018.8394475

Cite this

Chang, Y. H., Yang, C. Y., & Lin, H. W. (2018). Adaptive control for bilateral teleoperation systems with time-varying delays. In A. D. K.-T. Lam, S. D. Prior, & T.-H. Meen (Eds.), Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018 (pp. 1111-1114). (Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICASI.2018.8394475

Chang, Yeong Hwa ; Yang, Cheng Yuan ; Lin, Hung Wei. / Adaptive control for bilateral teleoperation systems with time-varying delays. Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018. editor / Artde Donald Kin-Tak Lam ; Stephen D. Prior ; Teen-Hang Meen. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1111-1114 (Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018).

@inproceedings{f1abe79218414708b8f9c88f8ffadbf4,

title = "Adaptive control for bilateral teleoperation systems with time-varying delays",

abstract = "This paper presents a sliding-mode based controller for teleoperation systems with unknown uncertainties and time-varying delays. Adaptive laws are proposed to deal with the unknown but bounded uncertainties. Moreover, the allowable bound of delays can be obtained by solving a linear matrix inequality. By Lyapunov-Krasovskii functional analysis, the closed-loop stability is guaranteed. Both simulation and experimental results are provided for performance validations and comparisons. It is indicated that the proposed adaptive control scheme can provide better position tracking and force perception for master-slave teleoperation systems.",

keywords = "Teleoperation system, adaptive control, sliding-mode control, time delays",

author = "Chang, \{Yeong Hwa\} and Yang, \{Cheng Yuan\} and Lin, \{Hung Wei\}",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 4th IEEE International Conference on Applied System Innovation, ICASI 2018 ; Conference date: 13-04-2018 Through 17-04-2018",

year = "2018",

month = jun,

day = "22",

doi = "10.1109/ICASI.2018.8394475",

language = "英语",

series = "Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1111--1114",

editor = "Lam, \{Artde Donald Kin-Tak\} and Prior, \{Stephen D.\} and Teen-Hang Meen",

booktitle = "Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018",

address = "美国",

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Chang, YH, Yang, CY & Lin, HW 2018, Adaptive control for bilateral teleoperation systems with time-varying delays. in ADK-T Lam, SD Prior & T-H Meen (eds), Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018. Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018, Institute of Electrical and Electronics Engineers Inc., pp. 1111-1114, 4th IEEE International Conference on Applied System Innovation, ICASI 2018, Chiba, Japan, 13/04/18. https://doi.org/10.1109/ICASI.2018.8394475

Adaptive control for bilateral teleoperation systems with time-varying delays. / Chang, Yeong Hwa; Yang, Cheng Yuan; Lin, Hung Wei.
Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018. ed. / Artde Donald Kin-Tak Lam; Stephen D. Prior; Teen-Hang Meen. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1111-1114 (Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Adaptive control for bilateral teleoperation systems with time-varying delays

AU - Chang, Yeong Hwa

AU - Yang, Cheng Yuan

AU - Lin, Hung Wei

PY - 2018/6/22

Y1 - 2018/6/22

N2 - This paper presents a sliding-mode based controller for teleoperation systems with unknown uncertainties and time-varying delays. Adaptive laws are proposed to deal with the unknown but bounded uncertainties. Moreover, the allowable bound of delays can be obtained by solving a linear matrix inequality. By Lyapunov-Krasovskii functional analysis, the closed-loop stability is guaranteed. Both simulation and experimental results are provided for performance validations and comparisons. It is indicated that the proposed adaptive control scheme can provide better position tracking and force perception for master-slave teleoperation systems.

AB - This paper presents a sliding-mode based controller for teleoperation systems with unknown uncertainties and time-varying delays. Adaptive laws are proposed to deal with the unknown but bounded uncertainties. Moreover, the allowable bound of delays can be obtained by solving a linear matrix inequality. By Lyapunov-Krasovskii functional analysis, the closed-loop stability is guaranteed. Both simulation and experimental results are provided for performance validations and comparisons. It is indicated that the proposed adaptive control scheme can provide better position tracking and force perception for master-slave teleoperation systems.

KW - Teleoperation system

KW - adaptive control

KW - sliding-mode control

KW - time delays

UR - https://www.scopus.com/pages/publications/85050277716

U2 - 10.1109/ICASI.2018.8394475

DO - 10.1109/ICASI.2018.8394475

M3 - 会议稿件

AN - SCOPUS:85050277716

T3 - Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018

SP - 1111

EP - 1114

BT - Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018

A2 - Lam, Artde Donald Kin-Tak

A2 - Prior, Stephen D.

A2 - Meen, Teen-Hang

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 4th IEEE International Conference on Applied System Innovation, ICASI 2018

Y2 - 13 April 2018 through 17 April 2018

ER -

Chang YH, Yang CY, Lin HW. Adaptive control for bilateral teleoperation systems with time-varying delays. In Lam ADKT, Prior SD, Meen TH, editors, Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1111-1114. (Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018). doi: 10.1109/ICASI.2018.8394475

Adaptive control for bilateral teleoperation systems with time-varying delays

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