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Within a unified switched-control framework, this book investigates the high-performance control designs and theoretic analyses for teleoperation systems, including the joint space and task space teleoperations, the homogeneous and heterogeneous teleoperations, and the single-master single-slave and multi-master multi-slave teleoperations.
The book begins with an introduction to the concepts and challenges of networked teleoperation systems. Then, it investigates a new adaptive control framework based on auxiliary switched filters for the bilateral teleoperation systems to handle the model uncertainty and non-passive external forces. To overcome the input constraints of robotic systems, this adaptive method is also extended to the anti-windup adaptive control case. Furthermore, to apply to multi-robot remote collaboration scenarios and heterogeneous teleoperations, two tele-coordination methods and an adaptive semi-autonomous control method are respectively developed. Finally, the authors examine two finite-time control schemes and two types of improved prescribed performance controls for teleoperation systems to improve the transient-state and steady-state synchronization performances. The presented results mark a substantial contribution to nonlinear teleoperation system theory, robotic control theory and networked control system theory.
A typical networked teleoperation system consists of five parts, namely, human operator, master robot, slave robot, environment and communication network. Teleoperation system greatly expands human’s working ability in dangerous and harsh environment. The introduction of network brings convenience to teleoperation, but also brings new challenges to its control design and analysis.
The book has been organized into the following chapters:
In the introduction chapter, a broad overview of networked teleoperation systems is provided detailing current state-of-the-art research in this field. Chapter 2 presents basic concepts, notations and a brief background of robotics and related constructs and models that are used throughout the book. The main mathematical results, from switched control, nonlinear control and networked control, are also provided to facilitate further developments in different chapters. Chapter 3 presents the teleoperation system of a new adaptive control framework based on an auxiliary switched filter. By introducing the switched filter systems, the complete closed-loop system is modeled as a nonlinear switched delayed system, which consists of two interconnected switched and non-switched subsystems. By using the switching stability analysis in the framework of state-independent input-to-output stability, the closed-loop stability is then derived. The proposed method achieves the control of teleoperation systems in the simultaneous presence of varying time delay, model uncertainties and passive/nonpassive external forces. Chapter 4 addresses the adaptive control of the teleoperation system with actuator saturation. To unify the study of actuator saturation, passive/nonpassive external forces, asymmetric time-varying delays and unknown dynamics in the same framework, the control based on the auxiliary switched filter is developed. A specific control design is developed in the form of proportional plus damping injection plus switched filter, which simplifies the traditional one. Chapters 5 and 6 address the tele-coordinated control of multiple robots. To achieve the control objective, under the framework of auxiliary switched filter control, two tele-coordinated methods are provided, which are, respectively, the constrained coordination control and unconstrained coordination control.
Chapter 7 addresses the adaptive task-space bilateral teleoperation for heterogeneous master and slave robots to guarantee stability and tracking performance, where a novel semi-autonomous teleoperation framework is developed to ensure the safety and enhance the efficiency of the slave robot. Chapter 8 addresses the adaptive finite-time control problem of nonlinear teleoperation systems in the presence of asymmetric time-varying delays. To achieve the finite-time control objective, the nonsmooth control technique is employed where the nonsmooth switched filter is investigated. On the basis of Chapter 8, Chapter 9 investigates the anti-windup finite-time control for the teleoperation system, where to study the finite-time control, actuator saturation and asymmetric time-varying delays in a unified framework, a novel non-smooth generalized switched filter is designed. Chapter 10 provides a prescribed performance control framework for teleoperation systems, which guarantees the given transient-state and steady-state synchronization performances between the master and slave robots. It overcomes the shortcomings that the predefined time control can only improve the convergence speed and do nothing to other transient state performance index like overshoot. Chapter 11 investigates a switching-based prescribed-performance-like control approach for nonlinear teleoperation systems, which balances the performance and implementability of classical predefined performance control algorithm when its hard constraint is violated and is thus applicable to a wider area.
This title will be an essential reference for researchers and engineers interested in teleoperation, robotic systems, and nonlinear control systems. It would also prove useful to graduate students in the fields of science, engineering, and Computer Science. Readers of our book are assumed to have some background in robot control and nonlinear control