In this paper, a control scheme is developed and evaluated for stable bilateral haptic teleoperation of a single-rod hydraulic actuator subjected to base disturbance. The proposed controller, based on Lyapunov stability technique, is capable of reducing position errors at master and slave sides, and provides a feel of the contact force between the actuator and the task environment to the operator without a need for direct measurement. The controller requires only the measurements of the actuator line pressures and displacements of the master and slave. The system stability is insensitive to the uncertainties of the physical parameters and of the measurement of the base point motion. Stability of the proposed controller incorporating hydraulic nonlinearities and operator dynamics with an estimated upper value for the base disturbance is analytically proven. Simulation studies validate that the proposed control system is stable while interacting with a task environment. Experimental results demonstrate the effectiveness of control scheme in maintaining stability, while having good position tracking by the hydraulic actuator as well as providing a haptic feel to the operator without direct measurement of interaction force, while the hydraulic actuator is subjected to base disturbance.
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March 2019
Research-Article
A Lyapunov Stable Controller for Bilateral Haptic Teleoperation of Single-Rod Hydraulic Actuators Subjected to Base Disturbance
Vikram Banthia,
Vikram Banthia
Department of Mechanical Engineering,
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: umbanthv@myumanitoba.ca
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: umbanthv@myumanitoba.ca
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Ali Maddahi,
Ali Maddahi
Department of Mechanical Engineering,
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: maddahia@myumanitoba.ca
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: maddahia@myumanitoba.ca
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Kourosh Zareinia,
Kourosh Zareinia
Department of Mechanical and
Industrial Engineering,
Ryerson University,
Toronto, ON M5B 2K3, Canada
e-mail: kourosh.zareinia@ryerson.ca
Industrial Engineering,
Ryerson University,
Toronto, ON M5B 2K3, Canada
e-mail: kourosh.zareinia@ryerson.ca
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Subramaniam Balakrishnan,
Subramaniam Balakrishnan
Department of Mechanical Engineering,
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: subramaniam.balakrishnan@umanitoba.ca
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: subramaniam.balakrishnan@umanitoba.ca
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Nariman Sepehri
Nariman Sepehri
Department of Mechanical Engineering,
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: nariman.sepehri@umanitoba.ca
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: nariman.sepehri@umanitoba.ca
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Vikram Banthia
Department of Mechanical Engineering,
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: umbanthv@myumanitoba.ca
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: umbanthv@myumanitoba.ca
Ali Maddahi
Department of Mechanical Engineering,
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: maddahia@myumanitoba.ca
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: maddahia@myumanitoba.ca
Kourosh Zareinia
Department of Mechanical and
Industrial Engineering,
Ryerson University,
Toronto, ON M5B 2K3, Canada
e-mail: kourosh.zareinia@ryerson.ca
Industrial Engineering,
Ryerson University,
Toronto, ON M5B 2K3, Canada
e-mail: kourosh.zareinia@ryerson.ca
Subramaniam Balakrishnan
Department of Mechanical Engineering,
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: subramaniam.balakrishnan@umanitoba.ca
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: subramaniam.balakrishnan@umanitoba.ca
Nariman Sepehri
Department of Mechanical Engineering,
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: nariman.sepehri@umanitoba.ca
University of Manitoba,
Winnipeg, MB R3T 5V6, Canada
e-mail: nariman.sepehri@umanitoba.ca
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received March 21, 2018; final manuscript received October 20, 2018; published online November 22, 2018. Assoc. Editor: Youngsu Cha.
J. Dyn. Sys., Meas., Control. Mar 2019, 141(3): 031013 (20 pages)
Published Online: November 22, 2018
Article history
Received:
March 21, 2018
Revised:
October 20, 2018
Citation
Banthia, V., Maddahi, A., Zareinia, K., Balakrishnan, S., and Sepehri, N. (November 22, 2018). "A Lyapunov Stable Controller for Bilateral Haptic Teleoperation of Single-Rod Hydraulic Actuators Subjected to Base Disturbance." ASME. J. Dyn. Sys., Meas., Control. March 2019; 141(3): 031013. https://doi.org/10.1115/1.4041851
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