A novel shared structure for dual user systems with unknown time-delay utilizing adaptive impedance control

M. Shahbazi, H. A. Talebi, S. F. Atashzar, F. Towhidkhah, R. V. Patel, S. Shojaei

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, a novel decentralized multilateral structure is proposed for the dual user systems in the presence of communication delay. The proposed structure utilizes adaptive impedance control approach in order to overcome the destructive effect of the time-delay on system desired-objectives, which is a disregarded issue in the previous studies on dual user system. The proposed control strategy, which utilizes three desired impedance surfaces defined in the paper, satisfactorily brings the system hybrid matrix close to the ideal one that guarantees the system stability and transparency. The controller is designed in a way that eliminates the necessity of the delay estimation as one of its outstanding characteristics; consequently, the unknown communication time-delay can be handled via this structure while previous studies have disregarded the issue of time delay in dual user system. Furthermore, the adaptive structure of the controller promises to overcome the uncertainties on robot's dynamics. In addition, the efficiency of the controller in guaranteeing the system stability in the presence of unknown communication delay is investigated through passivity theory and the presented analysis illustrates complete independency of the closed-loop system stability on time delay value applying the proposed controller. Experimental results performed on a delayed dual user system demonstrate validity of the proposed scheme.

Original languageEnglish (US)
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages2124-2129
Number of pages6
DOIs
StatePublished - 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period5/9/115/13/11

Keywords

  • Adaptive impedance control
  • Dual-user systems
  • Teleoperation
  • Unknown time delay

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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