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Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic Systems over a Lossy Communication Channel

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Abstract

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel; however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous pulses. To improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.

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Authors and Affiliations

  1. Faculty of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood, 36199-95161, Iran

    Ali Bakhshi & Alireza Alfi

  2. Power Plants Control Systems Technology Development Plan, Department of monitoring and Control, Niroo Research Institute, Tehran, 14665-517, Iran

    Ali Bakhshi

  3. Real-Time and Robotics system Laboratory, Faculty of Electrical Engineering, Amirkabir University of Technolog, Hafez Avenue, Tehran, 15914, Iran

    Heidar Ali Talebi & Amir Aboulfazl Souratgar

  4. Electrical and Computer Engineering Department, The University of British Columbia, 2385 East Mall, Vancouver, BC, V6T 1Z4, Canada

    Mahdi Yousefi

Authors
  1. Ali Bakhshi
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  2. Alireza Alfi
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  3. Heidar Ali Talebi
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  4. Amir Aboulfazl Souratgar
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  5. Mahdi Yousefi
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Corresponding authors

Correspondence to Ali Bakhshi, Alireza Alfi, Heidar Ali Talebi, Amir Aboulfazl Souratgar or Mahdi Yousefi.

Additional information

This paper was recommended for publication by Editor SUN Jian.

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Bakhshi, A., Alfi, A., Talebi, H.A. et al. Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic Systems over a Lossy Communication Channel. J Syst Sci Complex 34, 157–179 (2021). https://doi.org/10.1007/s11424-020-9144-6

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  • DOI: https://doi.org/10.1007/s11424-020-9144-6

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