Input-to-Output Stable Teleoperation
Four-channel teleoperation with both position and force transmissions is empirically proven to tightly constrain the human user to the remote environment. Nevertheless, characterizing the stability of the system with unknown user/environment model and nonlinear robot dynamics remains untouched for a long time. I proposed to render teleoperation input-to-output stable via hybrid damping-stiffness adjustment. This enables quantifying the impact of the user and environment forces on the robot velocities and position error of the system. The design can effectively improve both the position and the force tracking performances in human/hardware-in-the-loop simulations [1]. |
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Input-to-State Stable Teleoperation
Inspired by the hybrid damping-stiffness regulation method in [1], I further advanced the controller design through constructing a sliding variable for each robot. As a sum of robot position error and velocity, the sliding variable transforms the Euler-Lagrange robot dynamics into a more tractable input-output mapping. I proved that the robot position error and velocities can be steered to a prescribed set at an exponential rate by separately adapting the interconnection and damping with local velocities. The result has been presented in [2] to validate the superiority of my design over representative controllers in position tracking. |
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[1] Y. Yang, D. Constantinescu and Y. Shi, “Robust four-channel teleoperation through hybrid damping-stiffness adjustment,” in IEEE Transactions on Control System Technology, vol. 28, no. 3, pp. 920-935, May 2020.
[2] Y. Yang, D. Constantinescu and Y Shi, “Input-to-state stable bilateral teleoperation by dynamic interconnection and damping injection: Theory and experiments,” in IEEE Transactions on Industrial Electronics, vol. 67, no. 1, pp. 790-799, Jan. 2020.
[2] Y. Yang, D. Constantinescu and Y Shi, “Input-to-state stable bilateral teleoperation by dynamic interconnection and damping injection: Theory and experiments,” in IEEE Transactions on Industrial Electronics, vol. 67, no. 1, pp. 790-799, Jan. 2020.