Abstract
This study develops an approach of controller design, on the basis of Lambert W function structure for Internet-based bilateral teleoperation systems. Actually, time-delay terms in bilateral teleoperation systems lead to an infinite number of characteristic equation roots making difficulty in analysis of systems by classical methods. As delay differential equations (DDEs) have infinite eigenspectrums, all closed-loop eigenvalues are not feasible to locate in desired positions by using classical control methods. Therefore, this study suggests a new feedback controller for assignment of eigenvalues, in compliance with Lambert W function. In this regard, an adaptive controller is accurately employed in order to provide the controller with updated predicted time-delay and robust the system against the time-delay. This novel control approach causes the rightmost eigenvalues to locate exactly in desired positions in the stable left hand of the imaginary axis. The simulation results show strong and robust closed-loop performance and better tracking in constant and time-varying delay.
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Recommended by Associate Editor Hyo-Sung Ahn under the direction of Editor Doo Yong Lee. This study was supported by national natural science foundation of China (No. 51575292) and national science and technology major project of China (No. 2016ZX04004004).
Mohammad Hadi Sarajchi received his B.Sc. degree in electrical engineering from Razi University in 2010, and his M.S. degree in electrical engineering from Bu-Ali Sina University in Iran,in 2013. In 2017, he joined the Department of Mechanical Engineering, Tsinghua University, in China as a Post Master Researcher. His current research interests include Teleoperation system, Artificial Intelligence, Cable-driven Parallel Robot (CDPR), and Drone.
Soheil Ganjefar received his B.Sc. degree from the Ferdoowsi University, Mashhad, Iran, in 1994, and his M.Sc. and Ph.D. degrees from the Tarbiat Modares University, Tehran, Iran, in 1997 and 2003, respectively, all in electrical engineering. He is currently a Professor in the Department of Electrical Engineering, Bu-Ali Sina University, Hamedan, Iran. His main research interests include Teleoperation systems control, neural network, and Renewable Energy.
Zhufeng Shao is an associate professor in the Department of Mechanical Engineering, Tsinghua University. He received his Ph.D. degree in Mechanical Engineering from Tsinghua University in 2011. He joined Tsinghua University in the same year where he is teaching mechanical design and control of parallel manipulator. His research interests include cable-driven robot, motion control and optimal design.
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Sarajchi, M.h., Ganjefar, S., Hoseini, S.M. et al. Adaptive Controller Design Based On Predicted Time-delay for Teleoperation Systems Using Lambert W function. Int. J. Control Autom. Syst. 17, 1445–1453 (2019). https://doi.org/10.1007/s12555-018-0289-1
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DOI: https://doi.org/10.1007/s12555-018-0289-1