Decentralized robust control for teleoperated needle insertion with uncertainty and communication delay. (October 2017)

• Record Type: Journal Article
• Authors: Agand, Pedram; Motaharifar, Mohammad; Taghirad, Hamid D.
• Is Part Of: Mechatronics. Volume 46(2017)
• Page Start: 46
• Page End: 59
• Publication Date: 2017-10
• Subjects: Haptic device -- Robust control -- Soft tissue -- Environment dynamic -- Teleoperation -- H∞ Controller; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2017.06.004
• Languages: English
• ISSNs: 0957-4158

Abstract

Highlights: Robust control of a teleoperation system is synthesized using iterative methods. A suboptimal controller is obtained sequentially with guaranteed robust stability. Experimental results evaluate applicability and efficiency of the proposed method. Position and force tracking are iteratively considered in the decentralized approach. The considered uncertainty is due to unknown system dynamics and time-varying delays. Abstract: An iterative synthesizing strategy for robust force reflecting control of a Haptic exploration device is proposed. The proposed strategy guarantees the robust stability of the closed loop system with respect to uncertainties caused by the robot dynamics and environmental impedance as well as time-varying communication delays. In order to achieve the stability and performance objectives of the teleoperation system through a multiobjective optimization framework, a suboptimal robust controller is obtained with guaranteed global stability. Under a decentralized structure, the proposed approach provides a systematic design framework using H ∞ robust approach in the presence of interconnection in the structure. Through experimental results, the improved performance of the proposed approach is demonstrated.