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

電機工程學系(含學碩博士班及碩士在職專班)

Chang Gung University
Lee-Ming Institute of Technology

研究成果: 圖書/報告稿件的類型 › 會議稿件 › 同行評審

7 引文斯高帕斯（Scopus）

摘要

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.

原文	英語
主出版物標題	Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018
編輯	Artde Donald Kin-Tak Lam, Stephen D. Prior, Teen-Hang Meen
發行者	Institute of Electrical and Electronics Engineers Inc.
頁面	1111-1114
頁數	4
ISBN（電子）	9781538643426
DOIs	https://doi.org/10.1109/ICASI.2018.8394475
出版狀態	已出版 - 22 06 2018
事件	4th IEEE International Conference on Applied System Innovation, ICASI 2018 - Chiba, 日本持續時間: 13 04 2018 → 17 04 2018

出版系列

名字	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
國家/地區	日本
城市	Chiba
期間	13/04/18 → 17/04/18

文獻附註

Publisher Copyright:
© 2018 IEEE.

存取文件

10.1109/ICASI.2018.8394475

其它文件與鏈接

Link to publication in Scopus

引用此

Chang, Y. H., Yang, C. Y., & Lin, H. W. (2018). Adaptive control for bilateral teleoperation systems with time-varying delays. 於 A. D. K.-T. Lam, S. D. Prior, & T.-H. Meen (編輯), Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018 (頁 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. 編輯 / Artde Donald Kin-Tak Lam ; Stephen D. Prior ; Teen-Hang Meen. Institute of Electrical and Electronics Engineers Inc., 2018. 頁 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",

}

Chang, YH, Yang, CY & Lin, HW 2018, Adaptive control for bilateral teleoperation systems with time-varying delays. 於 ADK-T Lam, SD Prior & T-H Meen (編輯), 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., 頁 1111-1114, 4th IEEE International Conference on Applied System Innovation, ICASI 2018, Chiba, 日本, 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. 編輯 / 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).

研究成果: 圖書/報告稿件的類型 › 會議稿件 › 同行評審

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. 於 Lam ADKT, Prior SD, Meen TH, 編輯, 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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