Title: Stabilization of Asymmetric Bilateral Teleoperation Systems with Time-varying Delays
Reporter: Ya-Jun Pan, Ph.D.
Time: 02:00PM, Apr. 19th
Address: Conference Room on the 4th Floor of the Old Building of Institute of Mechatronic Control Engineering
Report Content and Expert Introduction:
Stabilization of Asymmetric Bilateral Teleoperation Systems with Time-varying Delays
Ya-Jun Pan, Ph.D., P.Eng, Associate Professor
Advanced Control and Mechatronics Laboratory
Department of Mechanical Engineering, Dalhousie University
Halifax, Nova Scotia, Canada B3H 4R2
Abstract
A novel control scheme for asymmetric bilateral teleoperation systems is developed based on linear models of the hardware, with considerations in the existence of communication time delays. The master and slave manipulators were modeled as linear single degree of freedom systems. The human user force was modeled based on the band limited availability of human motion, and the environmental force was modeled as a spring and damper combination based on the slave position. An impedance matching approach was applied to the master side dynamics, while a static error feedback gain was used to stabilize the slave side dynamics. A Lyapunov functional based on the error dynamics of the system is proposed with consideration for the minimum and maximum level of delays existing in the system. LMI techniques are used with Jensen’s inequality to determine the static feedback control gain. The cone complementarity algorithm is used to deal with non-linear terms within the LMI. The algorithms, hardware applications to haptic devices are described thoroughly and experimental results with comparisons to simulation results are demonstrated to show the effectiveness of the proposed approach.
Brief Biography
Dr. Ya-Jun Pan is currently an Associate Professor in the Department of Mechanical Engineering at Dalhousie University, Canada. She received the B.E. degree in Mechanical Engineering from Yanshan University in 1996, the M.E. degree in Mechanical Engineering from Zhejiang University in 1999 and the Ph.D degree in Electrical and Computer Engineering from the National University of Singapore in 2003. She held post-doctoral positions of CNRS in the Laboratoire d’Automatique de Grenoble (Current Name: GPISA-Lab), France and the Department of Electrical and Computer Engineering at the University of Alberta, Canada, in 2003 and 2004 respectively. Her research interests are focused on the robust nonlinear control, networked control systems, intelligent transportation systems and collaborative multiple autonomous ground/underwater vehicles. She is a senior member of IEEE, a member of ASME and a Registered Professional Engineer in the Province of Nova Scotia, Canada.