Stabilization of delayed teleoperation systems using time domain passivity control [Elektronische Ressource] / von Asif Iqbal

Asif Iqbal

Informations

• Publié par: universitat_siegen
• Publié le: 01 janvier 2007
• Nombre de lectures: 10
• Langue: English
• Poids de l'ouvrage: 2 Mo

Extrait

Stabilization Of Delayed Teleoperation
Systems Using Time Domain
Passivity Control
Vom Fachbereich Elektrotechnik und Informatik der
Universit¨at Siegen
zur Erlangung des akademischen Grades
Doktor der Ingenieurwissenschaften
(Dr.-Ing.)
genehmigte Dissertation
von
M.Sc. Asif Iqbal
1. Gutachter: Prof. Dr.-Ing. H. Roth
2. Gutachter: Prof. Dr.-Ing. habil. O. Loffeld
Vorsitzender: Prof. Dr.-Ing. R. Mayr
Tag der mundl¨ ichen Pruf¨ ung: 22.06.2007gedruckt auf alterungsbesta¨ndigem holz- und sa¨urefreiem PapierTo my dear parentsAcknowledgments
I would like to express my profound gratitude and appreciation to my advisor
Prof. Dr. Hubert Roth for his consistent help, guidance and attention that he
devoted throughout the course of this work. Despite his very busy schedule, he
alwayscouldfindtimetoadvisemeonscientificmattersandextended hisvaluable
support even while away from his office.
I am indebted to Prof. Dr. Otmar Loffeld for all that I had the privilege to
learn from him, the useful discussions that made my research period enjoyable,
and his frequent encouragements that contributed to the accomplishment of this
work.
I also acknowledge and am thankful for the research scholarship for doctoral
studies in Germany provided by DAAD(German Academic Exchange Service). I
amgratefulforthesupportand facilitiesprovided by ZESS(Center forSensor Sys-
tems), University of Siegen. I am especially thankful to Dr. Stefan Knedlik and
Mrs. SilviaNiet-Wunramwhowerealwaystheretoprovideanyhelp thatIneeded
during my stay at ZESS.
Thanks are due to my friends and colleagues for their moral support, good
wishes and the memorable days shared together.
I am deeply indebted to Mr. Rana Amanullah for the benevolent role that he
played throughout my academic years.
Andfinally,specialthanksareduetomyfamilymembersespeciallymyparents
and my wife Samina for their patience, understanding and invaluable prayers.Contents
List of Figures vii
List of Tables xi
Abstract xiii
Kurzfassung xv
1 Introduction 1
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1.1 Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.1.2 Components of a Teleoperation System . . . . . . . . . . . . 5
1.1.3 Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.1.4 Notations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2 Organization of the Work . . . . . . . . . . . . . . . . . . . . . . . 7
2 Problem Definition 9
2.1 Instability due to Time Delay . . . . . . . . . . . . . . . . . . . . . 10
2.2 System Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2.1 Teleoperation Setup Description . . . . . . . . . . . . . . . . 16
2.2.2 Master Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2.3 Slave Arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.2.4 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.2.5 Feedback Impedance . . . . . . . . . . . . . . . . . . . . . . 20
2.2.6 Communication Channel . . . . . . . . . . . . . . . . . . . . 22
2.3 Manifestation of the Problem using Simulations . . . . . . . . . . . 22
3 Literature Review 25
3.1 Passivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.1.1 Wave Variable based Passivity . . . . . . . . . . . . . . . . . 27
3.1.2 Time Domain Passivity Control . . . . . . . . . . . . . . . . 32
3.2 Lyapunov Functionals . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.3 Other Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
iii4 Stability and Passivity 35
4.1 Stability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.1.1 Asymptotic Stability . . . . . . . . . . . . . . . . . . . . . . 35
4.1.2 Uniform Exponential Stability . . . . . . . . . . . . . . . . . 36
4.1.3 Bounded Input Bounded Output(BIBO) Stability . . . . . . 36
4.1.4 Impulse Response Stability . . . . . . . . . . . . . . . . . . . 36
4.1.5 Lyapunov Stability . . . . . . . . . . . . . . . . . . . . . . . 36
4.1.6 ISS(Input to State Stability) . . . . . . . . . . . . . . . . . . 37
4.1.7 Stability and Stabilizability of Time-Delay Systems . . . . . 39
4.2 Passivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.2.1 Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.3 Stability of Passive Systems . . . . . . . . . . . . . . . . . . . . . . 45
4.4 Passivity In Teleoperators . . . . . . . . . . . . . . . . . . . . . . . 45
5 Time Domain Passivity Control 47
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
5.1.1 Continuous and Discrete Energies . . . . . . . . . . . . . . . 48
5.2 Passivity Observer . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
5.3 Passivity Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5.3.1 Dissipation Buildup Cancellation . . . . . . . . . . . . . . . 51
6 Stabilization in the Presence of Constant Time Delays 53
6.1 Extension of TDPC to Delayed Teleoperation . . . . . . . . . . . . 55
6.2 Energy Prediction for Time Domain Passivity . . . . . . . . . . . . 56
6.2.1 Controller Design . . . . . . . . . . . . . . . . . . . . . . . . 58
6.2.2 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . 63
6.3 Using Energy Derivatives to Enhance Transparency . . . . . . . . . 64
6.3.1 Design of Passivity Controllers based on Energy Derivatives 65
6.3.2 Placement of Kalman Filter based Parameter Estimator . . 66
6.3.3 Simulations using Predictive Time Domain Passivity with
Energy Derivatives . . . . . . . . . . . . . . . . . . . . . . . 68
6.3.4 ComparingtheSimulationResultswith-andwithout-Energy
Derivatives . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
6.4 Non-linear Recursive Estimation of Net Energy using Parabolic
Power Integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
6.4.1 Design of Passivity Controllers based on Parabolic Power
Integration . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
rd6.4.2 Using 3 -Order Model for Slave and Environment . . . . . . 75
6.4.3 Simulation Results using Parabolic Power Integration . . . . 77
6.5 Time Varying Environment . . . . . . . . . . . . . . . . . . . . . . 78
6.5.1 Stabilization with Variable Environment . . . . . . . . . . . 79
7 Stabilization in the Presence of Time Varying Delays 87
7.1 Generation and Prediction of Time-Varying Delays . . . . . . . . . 88
7.2 Design of Passivity Controllers . . . . . . . . . . . . . . . . . . . . . 897.3 Simulation and Results . . . . . . . . . . . . . . . . . . . . . . . . . 90
7.4 Implementation using TrueTime Network Simulator . . . . . . . . . 95
7.4.1 Communication Channel . . . . . . . . . . . . . . . . . . . . 95
7.4.2 Simulation Results . . . . . . . . . . . . . . . . . . . . . . . 100
8 Discussion of Results and Conclusions 109
8.1 Discussion of Results . . . . . . . . . . . . . . . . . . . . . . . . . . 109
8.2 Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
8.3 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
A TrueTime SIMULATOR 113
A.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
A.2 Simulation Using TrueTime . . . . . . . . . . . . . . . . . . . . . . 113
A.3 Simulation Environment . . . . . . . . . . . . . . . . . . . . . . . . 114
A.3.1 The Computer Block . . . . . . . . . . . . . . . . . . . . . . 114
A.3.2 The Network Block . . . . . . . . . . . . . . . . . . . . . . . 115
B DC Motor, Gear, and Encoder Parameters 117
B.1 Motor Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
B.1.1 Motor Parameters. . . . . . . . . . . . . . . . . . . . . . . . 117
B.2 Gear Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
B.2.1 Gear Parameters . . . . . . . . . . . . . . . . . . . . . . . . 118
B.3 Encoder Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
B.3.1 Encoder Parameters . . . . . . . . . . . . . . . . . . . . . . 118
B.4 Beam Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Bibliography 119
Index 127