Task-space synchronisation of nonlinear teleoperation with time-varying delays and actuator saturation. Issue 6 (2nd June 2020)

• Record Type: Journal Article
• Authors: Zakerimanesh, Amir; Hashemzadeh, Farzad; Tavakoli, Mahdi
• Is Part Of: International journal of control. Volume 93:Issue 6(2020)
• Page Start: 1328
• Page End: 1344
• Publication Date: 2020-06-02
• Subjects: Actuator saturation -- nonlinear teleoperation -- redundant manipulator -- semi-autonomous system -- time-varying delay; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2018.1506158
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: 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 efficiency of the proposed control algorithm is validated showing a number of numerical simulations.