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Lyapunov-Based Control of a Teleoperation System in Presence of Time Delay

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Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2020 (AISI 2020)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1261))

Abstract

Time delay can significantly degrade the performance of teleoperation systems or even render the system unstable. In the literature, a Lyapunov-like function was used to derive a condition that can guarantee the position tracking of a tele-operator in the presence of time delay. This paper extends our previous work to verify the correctness of such a tracking condition on a different system and at various cases. The simulation and experimental results show that in some cases even when the condition is satisfied, position tracking is not achieved. The same Lyapunov-like function was used in this research to derive a new and verified tracking condition. The experimental setup consists of two identical Phantom Premium 1.5/6DOF devices.

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Author information

Authors and Affiliations

  1. Helwan University, Cairo, 11795, Egypt

    Mohamed Sallam & Ihab Saif

  2. Mechatronics Engineering Department, High Institute of Engineering, Giza, Egypt

    Zakaria Saeed

  3. Egypt-Japan University of Science and Technology, Alexandria, 21934, Egypt

    Mohamed Fanni

Authors
  1. Mohamed Sallam
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  2. Ihab Saif
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  3. Zakaria Saeed
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  4. Mohamed Fanni
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Corresponding author

Correspondence to Mohamed Sallam .

Editor information

Editors and Affiliations

  1. Faculty of Computers and Artificial Intelligence, Information Technology Department, and Chair of the Scientific Research Group in Egypt, Cairo University, Cairo, Egypt

    Aboul Ella Hassanien

  2. Department of Electronics and Computer Science, Koszalin University of Technology, Koszalin, Poland

    Adam Slowik

  3. Faculty of Electrical Engineering and Computer Science, VÅ B-Technical University of Ostrava, Ostrava-Poruba, Moravskoslezsky, Czech Republic

    Václav Snášel

  4. Rector of the Electronic Research Institute, Cairo, Egypt

    Hisham El-Deeb

  5. Faculty of computers and information, Ain Shams University, Cairo, Egypt

    Fahmy M. Tolba

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Sallam, M., Saif, I., Saeed, Z., Fanni, M. (2021). Lyapunov-Based Control of a Teleoperation System in Presence of Time Delay. In: Hassanien, A.E., Slowik, A., Snášel, V., El-Deeb, H., Tolba, F.M. (eds) Proceedings of the International Conference on Advanced Intelligent Systems and Informatics 2020. AISI 2020. Advances in Intelligent Systems and Computing, vol 1261. Springer, Cham. https://doi.org/10.1007/978-3-030-58669-0_67

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