Intelligent Networked Teleoperation Systems Control

This book describes a unified framework for networked teleoperation systems involving multiple research fields: networked control systems for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation and cooperative teleoperation. It closely examines networked control as a field at the intersection of systems & control and robotics and presents a number of experimental case studies on testbeds for robotic systems, including networked haptic devices, robotic network systems and sensor network systems. The concepts and results outlined are easy to understand, even for readers fairly new to the subject. As such, the book offers a valuable reference work for researchers and engineers in the fields of systems & control and robotics. Preface 5 Contents 8 1 Introduction 12 1.1 Introduction 12 1.2 Teleoperation Applications 16 1.3 Control Issues in Teleoperation 24 1.3.1 Supervisory Control 27 1.3.2 Passivity-Based Control 27 1.3.3 Robust Control 28 1.3.4 Frequencial Methods 28 1.3.5 Predictive Control 29 1.3.6 Sliding Mode Control 29 1.3.7 Adaptive Control 30 1.3.8 Teleoperation over the Internet 32 1.4 Outline of the Book 33 2 Mathematical Preliminaries 35 2.1 Introduction 35 2.2 Linear Algebra 35 2.2.1 Linear Subspaces 35 2.2.2 Eigenvalues and Eigenvectors 37 2.2.3 Vector Norms and Matrix Norms 38 2.2.4 Similarity Transformation 39 2.2.5 Singular Value Decomposition 40 2.3 Controllability and Observability 42 2.3.1 Controllability 42 2.3.2 Observability 43 2.4 Stability Theory 45 2.4.1 Definitions 45 2.4.2 Lemmas and Theorems 46 2.4.3 Input-to-State Stability 48 2.4.4 Lyapunov's Direct Method 49 2.4.5 Barbalat-Like Lemmas 51 2.4.6 Lyapunov Theorem 52 2.5 Linear Matrix Inequalities 54 2.6 Stochastic Systems 56 2.6.1 Probability Preliminaries 56 2.6.2 Continuous-Time Markov Chains 56 2.6.3 Stochastic Stability 58 2.7 Time-Delay Systems 61 2.7.1 Functional Differential Equations 62 2.7.2 Stability of Time-Delay Systems 63 2.7.3 Notes 66 3 Modeling of Teleoperation System 67 3.1 Introduction 67 3.2 Kinematics 67 3.2.1 Direct Kinematic Model 67 3.2.2 Inverse Kinematic Model 73 3.2.3 Differential Kinematics 75 3.2.4 Statics, Singularities, and Inverse Differential Kinematics 78 3.3 Dynamics 82 3.4 Modeling of Time Delays 98 3.4.1 Networks 98 3.4.2 Network-Induced Delays 99 3.4.3 Network Modeled as Constant Delay 101 3.4.4 Network Modeled as Delays Being Independent 101 3.4.5 Network Modeled Using Markov Chain 102 3.4.6 Notations and Constraints for Delay Variations 103 3.5 Conclusion 104 4 Model-Based Bilateral Teleoperation Control 105 4.1 Introduction 105 4.2 Rigid Joint Robotic Systems 107 4.2.1 Dynamics Description 107 4.2.2 Motion-Based Control of Rigid Joint Teleoperation System 108 4.2.3 Stability Analysis 112 4.2.4 Simulation Studies 117 4.3 Flexible Joint Robotic Systems 123 4.3.1 Dynamics Description 123 4.3.2 Control Design and Stability Analysis 124 4.3.3 Simulation Studies 128 4.4 Conclusions 132 5 Model Reference Bilateral Teleoperation Control 133 5.1 Introduction 133 5.2 Hybrid Position/Force Teleoperation in Joint Space 135 5.2.1 Dynamics Description 135 5.2.2 Hybrid Position/Force Coordination of Master--Slave Teleoperation 138 5.2.3 Position/Force Control Design 141 5.2.4 Stability Analysis 145 5.2.5 Simulation Studies 155 5.3 Task-Space Hybrid Motion/Force Control of Bilateral Teleoperation 160 5.3.1 Dynamics Description 160 5.3.2 Task-Space Motion Synchronization 162 5.3.3 Task-Space Force Synchronization 170 5.3.4 Simulation Studies 170 5.4 Conclusions 174 6 Single-Master-Multi-Slaves Teleoperation 176 6.1 Introduction 176 6.2 System Description and Assumptions 178 6.3 Dynamics of Teleoperation System 180 6.3.1 Master Dynamics 182 6.3.2 Slave Dynamics 183 6.4 Neural Network Approximation 187 6.5 Hybrid Motion/Force Coordination of Master-Slave Teleoperation 189 6.6 The Neural Network Control and Its Stability Analysis 191 6.6.1 X2 Subsystem 191 6.6.2 X1 Subsystem 196 6.7 Internal Force Control Design and Stability 199 6.8 Simulation Studies 200 6.9 Conclusion 207 7 Trilateral Teleoperation 208 7.1 Introduction 208 7.2 Dynamics Description 209 7.2.1 Slave Dynamics 210 7.2.2 Master Dynamics 211 7.3 Control Objective 212 7.4 Fuzzy Logic Systems Functional Universal Approximation 213 7.5 Trilateral Teleoperation Control and Stability 214 7.5.1 Motion Coordination of Master 1 and Slave Robot 214 7.5.2 Stability Analysis 217 7.5.3 Force Reflection of Master 2 and Slave Robot 228 7.6 Simulation Studies 229 7.7 Conclusions 235 8 Multilateral Cooperative Teleoperation 236 8.1 Introduction 236 8.2 System Description and Assumptions 239 8.3 Dynamics of Multilateral Teleoperation System 240 8.3.1 Reduced Slave Dynamics 241 8.3.2 Reduced Master Dynamics 242 8.4 Control Objective 243 8.5 Fuzzy Logic System 244 8.6 Hybrid Motion/Force Multilateral Teleoperation Control 246 8.6.1 X2 Subsystem Stability 248 8.6.2 X1 Subsystem Stability 256 8.6.3 Force Control Design and Stability 262 8.7 Simulation Studies 263 8.8 Conclusions 271 References 273 Index 288 Front Matter....Pages i-xii Introduction....Pages 1-23 Mathematical Preliminaries....Pages 25-56 Modeling of Teleoperation System....Pages 57-94 Model-Based Bilateral Teleoperation Control....Pages 95-122 Model Reference Bilateral Teleoperation Control....Pages 123-165 Single-Master-Multi-Slaves Teleoperation....Pages 167-198 Trilateral Teleoperation....Pages 199-226 Multilateral Cooperative Teleoperation....Pages 227-263 Back Matter....Pages 265-282