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23-06-2020 | Original Research Paper | Issue 3/2020

Intelligent Service Robotics 3/2020

Passivity-based control of nonlinear teleoperation systems with non-passive interaction forces

Journal:
Intelligent Service Robotics > Issue 3/2020
Authors:
Robab Ebrahimi Bavili, Ahmad Akbari, Reza Mahboobi Esfanjani
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Abstract

This paper addresses the problem of asymptotic stability and position tracking in nonlinear teleoperation systems interacting with non-passive operator and environment. A nonlinear control law which is designed based on Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) scheme, uses the positions and velocities of the joints of manipulators to provide asymptotic stability of tracking errors. Using the Lyapunov–Krasovskii theorem, sufficient conditions are derived in terms of computationally amenable Linear Matrix Inequalities (LMIs), to tune the controller parameters in the presence of asymmetrical varying time delay in the communication channel. The proposed controller synthesis methodology requires no known passive part in the dynamical model of interaction forces. Moreover, using the integral control notion, the asymptotic stability of the synchronization errors is assured. Comparative simulation results are presented to demonstrate the superiority of the proposed method compared to some rival ones. Finally, experimental results from a laboratory teleoperator are reported to confirm the applicability of the introduced scheme.

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