Within a unified switched-control framework, this book investigates the high-performance control designs and theoretic analyses for teleoperation systems, including the joint space and task space teleoperations, the homogeneous and heterogeneous teleoperations, and the single-master single-slave and multi-master multi-slave teleoperations.
The book begins with an introduction to the concepts and challenges of networked teleoperation systems. Then, it investigates a new adaptive control framework based on auxiliary switched filters for the bilateral teleoperation systems to handle the model uncertainty and non-passive external forces. To overcome the input constraints of robotic systems, this adaptive method is also extended to the anti-windup adaptive control case. Furthermore, to apply to multi-robot remote collaboration scenarios and heterogeneous teleoperations, two tele-coordination methods and an adaptive semi-autonomous control method are respectively developed. Finally, the authors examine two finite-time control schemes and two types of improved prescribed performance controls for teleoperation systems to improve the transient-state and steady-state synchronization performances.
This title will be an essential reference for researchers and engineers interested in teleoperation, robotic systems, and nonlinear control systems. It would also prove useful to graduate students in the fields of science, engineering, and computer science.
Author(s): Di-Hua Zhai, Yuanqing Xia
Publisher: CRC Press
Year: 2023
Language: English
Pages: 313
City: Boca Raton
Cover
Half Title
Title Page
Copyright Page
Dedication
Contents
Preface
SECTION I: Preliminaries
CHAPTER 1: Introduction
1.1. BACKGROUNDS
1.2. TELEOPERATION SYSTEM CONTROL
1.3. TELEOPERATED CONTROL WITH INPUT SATURATION
1.4. MULTILATERAL TELE-COORDINATED CONTROL
1.5. HETEROGENEOUS TELEOPERATION CONTROL
1.6. HIGH-PERFORMANCE CONTROL OF TELEOPERATION SYSTEMS
BIBLIOGRAPHY
CHAPTER 2: Preliminaries of teleoperation control
2.1. INTRODUCTION
2.2. ROBOT MODELS
2.2.1. Lagrange’s equations
2.2.2. Robotic dynamics
2.2.3. Important property
2.2.4. Mathematical descriptions
2.3. SYSTEM WITH TIME DELAY
2.3.1. Modeling of time delay
2.3.2. Functional differential equation
2.3.3. Switched systems
2.3.4. Stability of time-delayed system
2.4. CONCLUSION
BIBLIOGRAPHY
SECTION II: Single-Master Single-Slave Teleoperation
CHAPTER 3: Adaptive control of bilateral teleoperation
3.1. INTRODUCTION
3.2. PROBLEM FORMULATION
3.3. ADAPTIVE CONTROLLER DESIGN
3.4. STABILITY ANALYSIS
3.5. EXPANSION TO SINGLE-MASTER MULTI-SLAVE TELEOPERATION
3.6. SIMULATION STUDY
3.6.1. Stability verification
3.6.2. Contact stability verification
3.6.3. Comparison study
3.7. CONCLUSION
BIBLIOGRAPHY
CHAPTER 4: Anti-saturation teleoperation control
4.1. INTRODUCTION
4.2. PROBLEM FORMULATION
4.3. ADAPTIVE CONTROLLER WITH INPUT CONSTRAINT
4.4. STABILITY ANALYSIS
4.5. EXPERIMENTAL VALIDATION
4.5.1. Stability verification
4.5.2. Comparison study
4.5.3. Some discussion
4.6. CONCLUSION
BIBLIOGRAPHY
SECTION III: Multi-Master Multi-Slave Teleoperation
CHAPTER 5: Adaptive tele-coordinated control of multiple mobile robots
5.1. INTRODUCTION
5.2. PROBLEM FORMULATION
5.2.1. Dynamics of the master robots
5.2.2. Dynamics of the slave robots
5.2.3. Motion control objectives
5.3. MULTILATERAL COORDINATION CONTROLLER
5.4. STABILITY ANALYSIS
5.5. SIMULATION STUDY
5.6. CONCLUSION
BIBLIOGRAPHY
CHAPTER 6: Multilateral tele-coordinated control
6.1. INTRODUCTION
6.2. PROBLEM FORMULATION
6.3. MULTILATERAL COORDINATED CONTROLLER
6.3.1. Neuroadaptive controller
6.3.2. Designs of filter subsystems
6.3.3. Complete closed-loop teleoperation system
6.4. STABILITY ANALYSIS
6.5. SIMULATION STUDY
6.5.1. Stability verification
6.5.2. Comparison studies
6.6. CONCLUSION
BIBLIOGRAPHY
SECTION IV: Heterogeneous Teleoperation
CHAPTER 7: Adaptive semi-autonomous control of heterogeneous teleoperation systems
7.1. INTRODUCTION
7.2. PROBLEM FORMULATION
7.2.1. Robot dynamics
7.2.2. Input uncertainty
7.2.3. Control objectives
7.3. TASK SPACE TELEOPERATION
7.4. STABILITY ANALYSIS
7.5. SEMI-AUTONOMOUS CONTROL OF SLAVE ROBOT
7.6. SIMULATION
7.6.1. Stability verification with practical communication delay
7.6.2. Simulations with large artificial communication delays
7.6.3. Comparison with the existing work
7.6.4. Comparison on tracking response for different time delays
7.6.5. Discussions
7.7. CONCLUSION
BIBLIOGRAPHY
SECTION V: Finite-time Teleoperation
CHAPTER 8: Adaptive finite-time teleoperation control
8.1. INTRODUCTION
8.2. PROBLEM FORMULATION
8.3. FINITE-TIME CONTROLLER
8.4. STABILITY ANALYSIS
8.5. SIMULATION
8.5.1. Stability verification
8.5.2. Comparison study
8.6. CONCLUSION
BIBLIOGRAPHY
CHAPTER 9: Finite-time adaptive anti-windup teleoperation control
9.1. INTRODUCTION
9.2. PROBLEM FORMULATION
9.3. ANTI-WINDUP FINITE-TIME CONTROLLER
9.4. STABILITY ANALYSIS
9.5. SIMULATION STUDY
9.5.1. Stability verification
9.5.2. Comparisons with the asymptotic control methods
9.5.3. Comparisons with the finite-time control methods
9.6. CONCLUSION
BIBLIOGRAPHY
SECTION VI: Prescribed-performance Teleoperation
CHAPTER 10: Prescribed performance task-space teleoperation control
10.1. INTRODUCTION
10.2. PROBLEM FORMULATION
10.2.1. Dynamics of robots
10.2.2. Control objectives
10.3. ADAPTIVE CONTROLLER
10.3.1. PPC strategy
10.3.2. Design of the control torque
10.3.3. Complete closed-loop teleoperation system
10.4. STABILITY ANALYSIS
10.5. SIMULATION STUDY
10.5.1. Stability verification with artificial delays
10.5.2. Stability verification with practical delays
10.5.3. Comparisons on task performance
10.5.4. Comparison study with varying time delays
10.5.5. Discussions
10.6. CONCLUSION
BIBLIOGRAPHY
CHAPTER 11: Practical given performance control of robotic systems
11.1. INTRODUCTION
11.2. PROBLEM FORMULATION
11.2.1. Dynamics of the robotic vehicle
11.2.2. Switching-based PPLC strategy
11.3. ADAPTIVE CONTROLLER
11.4. STABILITY ANALYSIS
11.5. APPLICATION TO TELEOPERATION SYSTEM
11.6. SIMULATION STUDY
11.6.1. Stability verification
11.6.2. Function verification of PPLC
11.6.3. Comparison studies
11.6.4. Discussions
11.7. CONCLUSION
BIBLIOGRAPHY
