Nonlinear predictive control for bilateral scaled teleoperation systems using a π-flat output: Theory and experiments

T. Slama, D. Aubry, R. Oboe, F. Kratz

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper is devoted to the control of bilateral teleoperation systems when the nonlinear external environment forces are considered as measured perturbations. To deal with this, we propose a nonlinear control strategy based on the π-flatness concept which is an interesting property for the tracking control of nonlinear time-delays systems. This strategy is composed by two steps: an open-loop feedforward control which allows to track the reference master trajectory; and a stabilization of the slave system around the desired trajectory using a predictive polynomial control. Therefore, we extend the usual Generalized Predictive Control (GPC) via a π-flat output to the case where the reference master trajectory is not a priori known. This difficulty is due to the bilateral aspect where the environment force feedback alters this reference trajectory. This extended GPC structure introduces robustness properties which are discussed in this paper. An experimental validation of the proposed approach is presented between two remote sites 1000 km away through Internet.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages4791-4796
Number of pages6
DOIs
Publication statusPublished - 2007
Event46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States
Duration: Dec 12 2007Dec 14 2007

Other

Other46th IEEE Conference on Decision and Control 2007, CDC
CountryUnited States
CityNew Orleans, LA
Period12/12/0712/14/07

Keywords

  • π-Flatness concept
  • Bilateral teleoperation systems
  • Internet
  • Nonlinear predictive control
  • Time-delay

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

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  • Cite this

    Slama, T., Aubry, D., Oboe, R., & Kratz, F. (2007). Nonlinear predictive control for bilateral scaled teleoperation systems using a π-flat output: Theory and experiments. In Proceedings of the IEEE Conference on Decision and Control (pp. 4791-4796). [4435032] https://doi.org/10.1109/CDC.2007.4435032