Passivity-based control for bilateral teleoperation: A tutorial

This tutorial revisits several of the most recent passivity-based controllers for nonlinear bilateral teleoperators with guaranteed stability properties. These schemes, which include scattering-based, damping injection and adaptive controllers, ensure asymptotic stability in multiple situations that range from constant to variable time-delays, with or without scattering transformation and with or without position tracking capabilities. Although all controllers exploit the basic property of passivity of the teleoperators, they have been developed invoking various analysis and design tools, which complicates their comparison and relative performance assessment. The objective of this paper is to present a unified theoretical framework-based on a general Lyapunov-like function-that, upon slight modification, allows to analyze the stability of all the schemes.

[1]  Mark W. Spong,et al.  Bilateral teleoperation: An historical survey , 2006, Autom..

[2]  S. Hirche,et al.  Independent-of-delay stability of nonlinear networked control systems by scattering transformation , 2006, 2006 American Control Conference.

[3]  S. Hirche,et al.  Bilateral teleoperation over the internet: the time varying delay problem , 2003, Proceedings of the 2003 American Control Conference, 2003..

[4]  Ilia G. Polushin,et al.  Control schemes for stable teleoperation with communication delay based on IOS small gain theorem , 2006, Autom..

[5]  P.X. Liu,et al.  A Force-Reflection Algorithm for Improved Transparency in Bilateral Teleoperation With Communication Delay , 2007, IEEE/ASME Transactions on Mechatronics.

[6]  Jean-Jacques E. Slotine,et al.  Contraction analysis of time-delayed communications and group cooperation , 2006, IEEE Transactions on Automatic Control.

[7]  M. Spong,et al.  On the uniform boundedness of the inertia matrix of serial robot manipulators , 1998 .

[8]  Romeo Ortega,et al.  A compensator for attenuation of wave reflections in long cable actuator-plant interconnections with guaranteed stability , 2006, Autom..

[9]  Stefano Stramigioli,et al.  Variable delay in scaled port-Hamiltonian telemanipulation , 2008 .

[10]  Romeo Ortega,et al.  On compensation of wave reflections in transmission lines and applications to the overvoltage problem AC motor drives , 2004, IEEE Transactions on Automatic Control.

[11]  Nikita Barabanov,et al.  Position and force tracking in bilateral teleoperation , 2004 .

[12]  Stefano Stramigioli,et al.  Modeling and Control of Complex Physical Systems - The Port-Hamiltonian Approach , 2014 .

[13]  Günter Dieter Niemeyer,et al.  Using wave variables in time delayed force reflecting teleoperation , 1996 .

[14]  Romeo Ortega,et al.  A New Proportional Controller for Nonlinear Bilateral Teleoperators , 2008 .

[15]  Mark W. Spong,et al.  Passivity-Based Control of Multi-Agent Systems , 2006 .

[16]  José Maria Azorín,et al.  Generalized control method by state convergence for teleoperation systems with time delay , 2004, Autom..

[17]  Peter Xiaoping Liu,et al.  A Multichannel IOS Small Gain Theorem for Systems With Multiple Time-Varying Communication Delays , 2009, IEEE Transactions on Automatic Control.

[18]  T. Namerikawa,et al.  Symmetric Impedance Matched Teleoperation with Position Tracking , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[19]  Suguru Arimoto,et al.  A New Feedback Method for Dynamic Control of Manipulators , 1981 .

[20]  Romeo Ortega,et al.  Erratum to "An adaptive controller for nonlinear teleoperators" [Automatica 46 (2010) 155-159] , 2011, Autom..

[21]  M.W. Spong,et al.  Output Synchronization of Nonlinear Systems with Time Delay in Communication , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[22]  Paul Knox.  La Défense, Paris , 2012 .

[23]  Rogelio Lozano,et al.  Synchronization of bilateral teleoperators with time delay , 2008, Autom..

[24]  Rafael Kelly,et al.  Control of Robot Manipulators in Joint Space , 2005 .

[25]  M.W. Spong,et al.  Theory and experiments in bilateral teleoperation over the Internet , 2004, Proceedings of the 2004 IEEE International Conference on Control Applications, 2004..

[26]  Romeo Ortega,et al.  Adaptive motion control of rigid robots: a tutorial , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[27]  Romeo Ortega,et al.  On tracking performance in bilateral teleoperation , 2006, IEEE Transactions on Robotics.

[28]  Martin Buss,et al.  Advances in Telerobotics , 2007, Springer Tracts in Advanced Robotics.

[29]  Mark W. Spong,et al.  Bilateral control of teleoperators with time delay , 1989 .

[30]  Jean-Jacques E. Slotine,et al.  Stable Adaptive Teleoperation , 1990, 1990 American Control Conference.

[31]  S. Munir,et al.  Internet based teleoperation using wave variables with prediction , 2001, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556).

[32]  Romeo Ortega,et al.  Control of Teleoperators with Time-Delay: A Lyapunov Approach , 2009 .

[33]  Mark W. Spong,et al.  Delay-independent stability for interconnected nonlinear systems with finite L2 gain , 2007, 2007 46th IEEE Conference on Decision and Control.

[34]  Romeo Ortega,et al.  An adaptive controller for nonlinear teleoperators , 2010, Autom..

[35]  Neal A. Tanner,et al.  Improving Perception in Time-delayed Telerobotics , 2005, Int. J. Robotics Res..

[36]  Stefano Stramigioli,et al.  Power Scaling in Port-Hamiltonian Telemanipulation over Packet Switched Networks , 2007, Advances in Telerobotics.

[37]  J. Loiseau.  Topics in time delay systems : analysis, algorithms and control , 2009 .

[38]  Mark W. Spong,et al.  PASSIVATION OF FORCE REFLECTING BILATERAL TELEOPERATORS WITH TIME VARYING DELAY , 2002 .

[39]  Mark W. Spong,et al.  On synchronization of networked passive systems with time delays and application to bilateral teleoperation , 2005 .

[40]  Mark W. Spong,et al.  Asymptotic Stability for Force Reflecting Teleoperators with Time Delay , 1992 .

[41]  Stefano Stramigioli,et al.  Transparency in Port-Hamiltonian-Based Telemanipulation , 2008, IEEE Trans. Robotics.

[42]  Mark W. Spong,et al.  Adaptive Synchronization of Bilateral Teleoperators with Time Delay , 2007, Advances in Telerobotics.

[43]  Sadao Kawamura,et al.  Advances in Robot Control , 2006 .

[44]  Silviu-Iulian Niculescu,et al.  Robust stability of teleoperation schemes subject to constant and time-varying communication delays , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[45]  Mahdi Tavakoli,et al.  Stability and performance in delayed bilateral teleoperation: Theory and experiments , 2008 .

[46]  Romeo Ortega,et al.  Position Tracking for Non-linear Teleoperators with Variable Time Delay , 2009, Int. J. Robotics Res..

[47]  Arjan van der Schaft,et al.  Geometric scattering in robotic telemanipulation , 2002, IEEE Trans. Robotics Autom..

[48]  M.W. Spong,et al.  Adaptive coordination control of bilateral teleoperators with time delay , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[49]  Dongjun Lee,et al.  Passive Bilateral Teleoperation With Constant Time Delay , 2006, IEEE Transactions on Robotics.

[50]  Jean-Jacques E. Slotine,et al.  Adaptive manipulator control: A case study , 1988 .

[51]  Jean-Jacques E. Slotine,et al.  Telemanipulation with Time Delays , 2004, Int. J. Robotics Res..

[52]  Emmanuel Nuno,et al.  Asymptotic stability of teleoperators with variable time-delays , 2009, 2009 IEEE International Conference on Robotics and Automation.

[53]  Mark W. Spong,et al.  Bilateral Teleoperation Over Unreliable Communication Networks , 2008, IEEE Transactions on Control Systems Technology.

[54]  Hoang Duong Tuan,et al.  Nonlinear adaptive control of master–slave system in teleoperation☆ , 2003 .

[55]  Max Donath,et al.  American Control Conference , 1993 .

[56]  Henk Nijmeijer,et al.  Mutual synchronization of robots via estimated state feedback: a cooperative approach , 2004, IEEE Transactions on Control Systems Technology.

[57]  Bruno Siciliano.  Advances in Control of Articulated and Mobile Robots , 2004, Springer Tracts in Advanced Robotics.

[58]  S. Hirche,et al.  Packet loss effects in passive telepresence systems , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[59]  Sophie Tarbouriech,et al.  Advances in Communication Control Networks , 2004 .

[60]  Claudio Melchiorri,et al.  Control schemes for teleoperation with time delay: A comparative study , 2002, Robotics Auton. Syst..

[61]  Wayne J. Book,et al.  Force reflecting teleoperation with adaptive impedance control , 2004, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[62]  Septimiu E. Salcudean,et al.  Analysis of Control Architectures for Teleoperation Systems with Impedance/Admittance Master and Slave Manipulators , 2001, Int. J. Robotics Res..

[63]  M. Spong,et al.  Robot Modeling and Control , 2005 .

[64]  Romeo Ortega,et al.  Passive Bilateral Teleoperation Framework for Assisted Robotic Tasks , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[65]  Sukhan Lee,et al.  Modeling, design, and evaluation of advanced teleoperator control systems with short time delay , 1993, IEEE Trans. Robotics Autom..

[66]  Ilia G. Polushin,et al.  Stabilization of bilaterally controlled teleoperators with communication delay: An ISS approach , 2003 .

[67]  Arjan van der Schaft,et al.  Balancing of Lossless and Passive Systems , 2008, IEEE Transactions on Automatic Control.

[68]  Wim Michiels,et al.  Stabilization of time-delay systems with a Controlled time-varying delay and applications , 2005, IEEE Transactions on Automatic Control.

[69]  Wen-Hong Zhu,et al.  Stability guaranteed teleoperation: an adaptive motion/force control approach , 2000, IEEE Trans. Autom. Control..