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SCIENCE CHINA Information Sciences, Volume 61, Issue 7: 070221(2018) https://doi.org/10.1007/s11432-017-9341-y

Nonlinear composite bilateral control framework for n-DOF teleoperation systems with disturbances

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  • ReceivedSep 29, 2017
  • AcceptedJan 19, 2018
  • PublishedMay 25, 2018

Abstract

This paper proposes a new nonlinear composite bilateral control framework for n-degree-of-freedom (n-DOF) teleoperation systems with external disturbances.Different with the existing methods which usually regard the dynamics of the master and slave robots as linear impedance models, the proposed control framework fully considers the nonlinear dynamics of the n-DOF teleoperation systems.Central to the proposed framework is the utilization of nonlinear disturbance observers for estimating the disturbances in master and slave robot systems.The nonlinear composite bilateral controller is constructed by incorporating the disturbance estimations into the nonlinear feedback linearization controller.The proposed control method guarantees satisfactory position tracking performance and desired remote force haptic simultaneously for the n-DOF teleoperation systems with external disturbances.The effectiveness of the proposed control framework is validated by its applications on 2-DOF teleoperation systems.


Acknowledgment

This work was supported by National Natural Science Foundation of China (Grant Nos. 61473080, 61573099, 61633003, 61750110525), Fundamental Research Funds for Central Universities (Grant No. 2242016R30011), Graduate Innovation Program of Jiangsu Province (Grant No. KYLX15-0114), Scientific Research Foundation of Graduate School of Southeast University (Grant No. YBJJ1561) and Open Project Program of Ministry of Education Key Laboratory of Measurement and Control of CSE (Grant No. MCCSE2017A01). Zhenhua ZHAO would also like to thank Chinese Scholarship Council and Newton Fund by British Council for supporting his study in the UK.


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  • Figure 1

    (Color online) Signal flow of the teleoperation systems.

  • Figure 2

    (Color online) Control structures of two typical existing composite bilateral control methods. (a) WDOB based composite bilateral controller; (b) MDOB based composite bilateral controller.

  • Figure 3

    (Color online) Block diagram of the nonlinear composite bilateral controller based on nonlinear disturbance observer.

  • Figure 4

    (Color online) Mechanical structure of the two-link revolute-joint robot based teleoperation system.

  • Figure 5

    (Color online) Response curves of end effector positions under the proposed controller (solid line), MDOB based composite controller (dashed line), WDOB based composite controller (dotted line) and baseline NFL controller (dash-dot line). (a) Position of master robot in $x$ axis; (b) position of master robot in $y$ axis; (c) position of slave robot in $x$ axis; protectłinebreak (d) position of slave robot in $y$ axis; (e) position tracking error in $x$ axis; (f) position tracking error in $y$ axis.

  • Figure 6

    (Color online) Trajectories of master robot (solid line) and slave robot (dotted line) with different types of disturbances under different controllers. (a)–(d) Without disturbances ($t\leq2$): (a) proposed controller, (b) MDOB based controller, (c) WDOB based controller, (d) baseline controller. (e)–(h) With time-varying disturbances ($2<t\leq4$): (e) proposed controller, (f) MDOB based controller, (g) WDOB based controller, (h) baseline controller. (i)–(l) With constant disturbances ($4<t\leq6$): (i) proposed controller, (j) MDOB based controller, (k) WDOB based controller, (l) baseline controller.

  • Figure 7

    (Color online) Response curves of contact forces under the proposed controller (solid line), MDOB based composite controller (dashed line), WDOB based composite controller (dotted line) and the baseline NFL controller (dash-dot line). (a) Force applied on master in $x$ axis; (b) force applied on master in $y$ axis; (c) force applied on slave in $x$ axis; (d) force applied on slave in $y$ axis; (e) force tracking error in $x$ axis; (f) force tracking error in $y$ axis.

  • Figure 8

    (Color online) Response curves of control torques under the proposed controller (solid line), MDOB based composite controller (dashed line), WDOB based composite controller (dotted line) and the baseline NFL controller (dash-dot line). (a) Control torques of master robot in the first joint; (b) control torques of master robot in the second joint; protectłinebreak (c) control torques of slave robot in the first joint; (d) control torques of slave robot in the second joint.

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