A transparent bilateral control scheme for a local teleoperation system using proportional-delayed controllers

José-Enrique Hernández-Díez (1) , Silviu-Iulian Niculescu (2, 3) , César Fernando Méndez Barrios (1) , Emilio-Jorge González-Galván (1) , Raul Ignacio Hernández-Molinar (1)

1 UASLP - Universidad Autonoma de San Luis Potosi [México]
2 L2S - Laboratoire des signaux et systèmes
3 DISCO - Dynamical Interconnected Systems in COmplex Environments

This paper addresses the closed-loop stability analysis problem of a bilateral local teleoperation system in the presence of delays, with the purpose of maintaining a kinematic correspondence between a master and a slave device. The stability analysis is proposed as a general analysis in the controller's parameter-space under the assumption of two fixed delays, considering one due to the signal and communication processing and one defined as a design delay for the controller. Furthermore, a method for measuring the fragility of the controllers is also proposed. Finally, experimental results obtained from an experimental platform consisting of two Phantom Omni haptic devices and the Matlab-Simulink toolkit Phansim illustrate the performance of the proposed approach and the video of the experiments can be downloaded from the authors' dedicated website 1 .

Keywords: Teleoperation systems; Controllers; Haptic devices; Experimental platform; Closed-loop stability analysis; Bilateral control; Remote control; MATLAB/ SIMULINK; Stability analysis; Parameter spaces

Domains: Automatic Control Engineering

José-Enrique Hernández-Díez, Silviu-Iulian Niculescu, César Fernando Méndez Barrios, Emilio-Jorge González-Galván, Raul Ignacio Hernández-Molinar. A transparent bilateral control scheme for a local teleoperation system using proportional-delayed controllers. 12th IEEE International Conference on Control and Automation, ICCA 2016, Jun 2016, Katmandou, Nepal. pp.473-478, ⟨10.1109/ICCA.2016.7505322⟩. ⟨hal-02274353⟩