Performance improvement of bilateral control systems using derivative of force

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dc.authoridUzunovic, Tarik/0000-0002-7979-7395;
dc.authorwosidUzunovic, Tarik/O-4712-2018
dc.authorwosidAsif, Sabanovic/N-7789-2013
dc.authorwosidBaran, Eray/U-3499-2019
dc.contributor.authorBaran, Eray A.
dc.contributor.authorUzunovic, Tarik
dc.contributor.authorSabanovic, Asif
dc.date.accessioned2024-07-18T20:56:55Z
dc.date.available2024-07-18T20:56:55Z
dc.date.issued2018
dc.departmentİstanbul Bilgi Üniversitesien_US
dc.description.abstractThis paper proposes a bilateral control structure with a realization of the force derivative in the control loop. Due to the inherent noisy nature of the force signal, most teleoperation schemes can make use of only a proportional (P) control structure in the force channel of the bilateral controllers. In the proposed scheme, an alpha-beta-gamma filter is designed to smoothly differentiate the force signal obtained from a reaction force observer integrated to both of the master and slave plants. The differentiated force signal is then used in a proportional-derivative (PD) force controller working together with a disturbance observer. In order to design the overall bilateral controller, an environment model based on pure spring structure is assumed. The controller is designed to enforce an exponentially decaying tracking error for both position and force signals. With the presented controller design approach, one can independently tune the controller gains of the force and the position control channels. The proposed approach is experimentally tested in a platform consisted of direct drive linear motors. As illustrated by the experiment results, the contribution of the PD control in the force channel improves the teleoperation performance especially under hard-contact motion scenarios by attenuating the oscillations, hence, improving the transparency when compared to the structures using only a P force control.en_US
dc.description.sponsorshipTubitak Projects [114M578, 110M425]; Ministry of Civil Affairs of Bosnia and Herzegovinaen_US
dc.description.sponsorshipThe authors would like to acknowledge Tubitak Projects 114M578 and 110M425 and the Ministry of Civil Affairs of Bosnia and Herzegovina, for the partial support provided for this study.en_US
dc.identifier.doi10.1017/S0263574718000607
dc.identifier.endpage1640en_US
dc.identifier.issn0263-5747
dc.identifier.issn1469-8668
dc.identifier.issue11en_US
dc.identifier.scopus2-s2.0-85052578099en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage1627en_US
dc.identifier.urihttps://doi.org/10.1017/S0263574718000607
dc.identifier.urihttps://hdl.handle.net/11411/8894
dc.identifier.volume36en_US
dc.identifier.wosWOS:000445223600003en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherCambridge Univ Pressen_US
dc.relation.ispartofRoboticaen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectHapticsen_US
dc.subjectBilateral Controlen_US
dc.subjectTeleoperationen_US
dc.subjectPd Force Controlen_US
dc.subjectAlpha-Beta-Gamma Filteren_US
dc.subjectHard Contact Motion Controlen_US
dc.subjectDisturbance-Observeren_US
dc.subjectTeleoperationen_US
dc.subjectSurgeryen_US
dc.subjectRoboten_US
dc.subjectStabilityen_US
dc.subjectDesignen_US
dc.subjectSpaceen_US
dc.subjectFpgaen_US
dc.titlePerformance improvement of bilateral control systems using derivative of forceen_US
dc.typeArticleen_US

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