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Vol: 52(66) No: 1 / March 2007 Time Domain Passivity Control based Stabilization of Teleoperation Systems in the Presence of Constant Time Delays Hubert Roth Institute of Automatic Control Engineering, University of Siegen, Siegen, 57068, Germany, phone: (271) 740-4438, e-mail: hubert.roth@uni-siegen.de Asif Iqbal IPP Multi Sensorics, ZESS (Center for Sensor Systems), University of Siegen, Siegen, 57068, Germany, phone: (271) 740-2340, e-mail: iqbal@ipp.zess.uni-siegen.de Keywords: time domain passivity control, time delay, teleoperation, stabilization Abstract Time domain passivity control can be used to stabilize the time-delayed teleoperation by considering the communication channel as an active component and to design passivity controllers for it using recursive prediction of slave side energy. However, the control actions by these passivity controllers result in large impulses that degrade the performance of teleoperator. Energy derivatives are used to remove these effects, which also forces the system to always dissipate energy and thus stop the occasional accumulation of a large amount of negative energy. To enhance the accuracy of energy estimation, Simpson\'s rule based recursive parabolic integration of the power function is employed instead of simple rectangular summation. Simulation results proving the usefulness of the proposed approach are given. Furthermore, it is shown that the given control scheme also stabilizes time-varying environments. References [1] W. Zhang, M. S. Branicky, and S. M. Phillips, \"Stability of netowrked control systems,\" IEEE Control Systems Magazine, no. 1, pp. 84–99, Feb 2001. [2] W. R. Ferrell, \"Delayed force feedback,\" Human Factors, vol. 8, pp. 449–455, 1966. [3] R. J. Anderson and M. W. Spong, \"Asymptotic stability for force reflecting teleoperators with time delay,\" Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1618–1625, 1989. [4] G. Niemeyer and J.-J. E. Slotine, \"Stable adaptive teleoperation,\" IEEE Journal of Oceanic Engineering, vol. 16, no. 1, pp. 152–162, 1991. [5] *** , \"Towards force-reflecting teleoperation over the internet,\" Proceedings of the 1998 IEEE International Conference on Robotics & Automation, pp. 1909–1915, 1998. [6] R. Lozano, N. Chopra, and M. W. Spong, \"Passivation of force reflecting bilateral teleoperators with time varying delay,\" Proceedings of Mechatronics’ 02, Entschede, Netherlands, June 2002. [7] G. Niemeyer and J.-J. E. Slotine, \"Telemanipulation with time delays,\" The International Journal of Robotics Research, vol. 23, no. 9, pp. 873–890, September 2004. [8] B. Hannaford and J.-H. Ryu, \"Time-domain passivity control of haptic interfaces,\" IEEE Transactions on Robotics and Automation, vol. 18, no. 1, pp. 1–10, February 2002. [9] J.-H. Ryu, D.-S. Kwon, and B. Hannaford, \"Stable teleoperation with time domain passivity control,\" IEEE Transactions on Robotics and Automation, vol. 20, no. 2, pp. 365–373, April 2004. [10] J.-H. Ryu, C. Preusche, B. Hannaford, and G. Hirzinger, \"Time domain passivity control with reference energy following,\" IEEE Transactions on Control System Technology, vol. 13, no. 5, pp. 737–742, September 2005. [11] A. Iqbal, H. Roth, and M. Abu-Zaitoon, \"Stabilization of delayed teleoperation using predictive time-domain passivity control,\" Proceedings of the IASTED International Conference on Robotics and Applications RA2005, pp. 20–25, Oct 2005. [12] A. Iqbal and H. Roth, \"Predictive time domain passivity control for delayed teleoperation using energy derivatives,\" Proceedings of 9th International Conference on Control, Automation, Robotics and Vision, published in ICARCV 2006, Singapore. [13] L. Ljung, \"System Identification, Theory for the User,\" 2nd ed., ser. Prentice Hall Information and System Sciences Series. Prentice Hall PTR, 1999. [14] M. W. Spong, \"Communication delay and control in telerobotics,\" Journal of Japan Robotics Society, vol. 11, no. 6, pp. 803–810, 1993. |