Task-Space Synchronization of Nonlinear Teleoperation with Time-Varying Delays and Actuator Saturation
| dc.contributor.author | Amir Zakerimanesh | |
| dc.contributor.author | Farzad Hashemzadeh | |
| dc.contributor.author | Mahdi Tavakoli | |
| dc.date.accessioned | 2025-05-01T12:10:17Z | |
| dc.date.available | 2025-05-01T12:10:17Z | |
| dc.date.issued | 2022-11-04 | |
| dc.description | In a nonlinear teleoperation system controlled for task-space position tracking, while the time-varying delay in the communication channel has been addressed, the actuator saturation has not been taken into account yet. Considering that in practice, the actuator saturation is a serious constraint, disregarding it in the controller design stage can cause problems. In this paper, we have proposed a control framework to ensure end-effectors position tracking while satisfying sub-task control in the presence of the nonlinear dynamics for the telemanipulators, bounded time-varying delays in the communication channels and saturation in the actuators. We have shown that in free motion and when the operator applies a bounded force to the local robot, the proposed controller not only guarantees the position convergence of the end-effectors but also guarantees the accomplishment of the sub-task control. The asymptotic stability of the closed-loop dynamics is studied using a Lyapunov-Krasovskii functional under conditions on the controller parameters and the maximum values of time-varying delays. The efficiency of the proposed teleoperation system and the control algorithm is validated using numerical simulations with a 2-DOF planar local robot and a 3-DOF planar redundant remote robot. | |
| dc.identifier.doi | https://doi.org/10.7939/r3-fddt-t253 | |
| dc.language.iso | en | |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc/4.0/ | |
| dc.subject | Actuator Saturation | |
| dc.subject | Nonlinear Teleoperation | |
| dc.subject | Redundant Manipulator | |
| dc.subject | Semi-Autonomous System | |
| dc.subject | Time-Varying Delay | |
| dc.title | Task-Space Synchronization of Nonlinear Teleoperation with Time-Varying Delays and Actuator Saturation | |
| dc.type | http://purl.org/coar/resource_type/c_6501 http://purl.org/coar/version/c_970fb48d4fbd8a85 | |
| ual.jupiterAccess | http://terms.library.ualberta.ca/public |
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