P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot

Autores
Salinas, Lucio Rafael; Santiago, Diego; Slawiñski, Emanuel; Mut, Vicente Antonio; Chavez Garcia, Geovanny Danilo; Leica Arteaga, Paulo Cesar; Camacho Quintero, Oscar Eduardo
Año de publicación
2018
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This paper proposes a control scheme based on combining a PD-like structure and a sliding mode control (SMC) applied to mobile robot bilateral teleoperation systems, in the face of asymmetric and time-varying delays. The proposal includes on the remote site both a P+d control and an SMC strategy in such a way that the advantages of both methods are exploited. The system stability is analyzed using Lyapunov-Krasovskii functionals and a delaydependent stability criteria is obtained using linear-matrix-inequalities (LMI). Finally, the teleoperation system is evaluated through human-in-the-loop experiments to confirm the theoretical results and test the robustness and stability of the proposed control scheme.
Fil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Santiago, Diego. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Chavez Garcia, Geovanny Danilo. Escuela Politécnica Nacional; Ecuador
Fil: Leica Arteaga, Paulo Cesar. Escuela Politécnica Nacional; Ecuador
Fil: Camacho Quintero, Oscar Eduardo. Escuela Politécnica Nacional; Ecuador
Materia
BILATERAL TELEOPERATION
LYAPUNOV-KRASOVSKII
MOBILE ROBOT
PD-LIKE CONTROL
SLIDING MODE CONTROL
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/89238
Acceder
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repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile RobotSalinas, Lucio RafaelSantiago, DiegoSlawiñski, EmanuelMut, Vicente AntonioChavez Garcia, Geovanny DaniloLeica Arteaga, Paulo CesarCamacho Quintero, Oscar EduardoBILATERAL TELEOPERATIONLYAPUNOV-KRASOVSKIIMOBILE ROBOTPD-LIKE CONTROLSLIDING MODE CONTROLhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This paper proposes a control scheme based on combining a PD-like structure and a sliding mode control (SMC) applied to mobile robot bilateral teleoperation systems, in the face of asymmetric and time-varying delays. The proposal includes on the remote site both a P+d control and an SMC strategy in such a way that the advantages of both methods are exploited. The system stability is analyzed using Lyapunov-Krasovskii functionals and a delaydependent stability criteria is obtained using linear-matrix-inequalities (LMI). Finally, the teleoperation system is evaluated through human-in-the-loop experiments to confirm the theoretical results and test the robustness and stability of the proposed control scheme.Fil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Santiago, Diego. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Chavez Garcia, Geovanny Danilo. Escuela Politécnica Nacional; EcuadorFil: Leica Arteaga, Paulo Cesar. Escuela Politécnica Nacional; EcuadorFil: Camacho Quintero, Oscar Eduardo. Escuela Politécnica Nacional; EcuadorInst Control Robotics & Systems2018-08info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/89238Salinas, Lucio Rafael; Santiago, Diego; Slawiñski, Emanuel; Mut, Vicente Antonio; Chavez Garcia, Geovanny Danilo; et al.; P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot; Inst Control Robotics & Systems; International Journal Of Control Automation And Systems; 16; 4; 8-2018; 1927-19371598-64462005-4092CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://link.springer.com/article/10.1007/s12555-017-0439-xinfo:eu-repo/semantics/altIdentifier/doi/10.1007/s12555-017-0439-xinfo:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T09:35:50Zoai:ri.conicet.gov.ar:11336/89238instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 09:35:50.781CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot
title P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot
spellingShingle P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot
Salinas, Lucio Rafael
BILATERAL TELEOPERATION
LYAPUNOV-KRASOVSKII
MOBILE ROBOT
PD-LIKE CONTROL
SLIDING MODE CONTROL
title_short P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot
title_full P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot
title_fullStr P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot
title_full_unstemmed P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot
title_sort P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot
dc.creator.none.fl_str_mv Salinas, Lucio Rafael
Santiago, Diego
Slawiñski, Emanuel
Mut, Vicente Antonio
Chavez Garcia, Geovanny Danilo
Leica Arteaga, Paulo Cesar
Camacho Quintero, Oscar Eduardo
author Salinas, Lucio Rafael
author_facet Salinas, Lucio Rafael
Santiago, Diego
Slawiñski, Emanuel
Mut, Vicente Antonio
Chavez Garcia, Geovanny Danilo
Leica Arteaga, Paulo Cesar
Camacho Quintero, Oscar Eduardo
author_role author
author2 Santiago, Diego
Slawiñski, Emanuel
Mut, Vicente Antonio
Chavez Garcia, Geovanny Danilo
Leica Arteaga, Paulo Cesar
Camacho Quintero, Oscar Eduardo
author2_role author
author
author
author
author
author
dc.subject.none.fl_str_mv BILATERAL TELEOPERATION
LYAPUNOV-KRASOVSKII
MOBILE ROBOT
PD-LIKE CONTROL
SLIDING MODE CONTROL
topic BILATERAL TELEOPERATION
LYAPUNOV-KRASOVSKII
MOBILE ROBOT
PD-LIKE CONTROL
SLIDING MODE CONTROL
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This paper proposes a control scheme based on combining a PD-like structure and a sliding mode control (SMC) applied to mobile robot bilateral teleoperation systems, in the face of asymmetric and time-varying delays. The proposal includes on the remote site both a P+d control and an SMC strategy in such a way that the advantages of both methods are exploited. The system stability is analyzed using Lyapunov-Krasovskii functionals and a delaydependent stability criteria is obtained using linear-matrix-inequalities (LMI). Finally, the teleoperation system is evaluated through human-in-the-loop experiments to confirm the theoretical results and test the robustness and stability of the proposed control scheme.
Fil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Santiago, Diego. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Fil: Chavez Garcia, Geovanny Danilo. Escuela Politécnica Nacional; Ecuador
Fil: Leica Arteaga, Paulo Cesar. Escuela Politécnica Nacional; Ecuador
Fil: Camacho Quintero, Oscar Eduardo. Escuela Politécnica Nacional; Ecuador
description This paper proposes a control scheme based on combining a PD-like structure and a sliding mode control (SMC) applied to mobile robot bilateral teleoperation systems, in the face of asymmetric and time-varying delays. The proposal includes on the remote site both a P+d control and an SMC strategy in such a way that the advantages of both methods are exploited. The system stability is analyzed using Lyapunov-Krasovskii functionals and a delaydependent stability criteria is obtained using linear-matrix-inequalities (LMI). Finally, the teleoperation system is evaluated through human-in-the-loop experiments to confirm the theoretical results and test the robustness and stability of the proposed control scheme.
publishDate 2018
dc.date.none.fl_str_mv 2018-08
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/89238
Salinas, Lucio Rafael; Santiago, Diego; Slawiñski, Emanuel; Mut, Vicente Antonio; Chavez Garcia, Geovanny Danilo; et al.; P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot; Inst Control Robotics & Systems; International Journal Of Control Automation And Systems; 16; 4; 8-2018; 1927-1937
1598-6446
2005-4092
CONICET Digital
CONICET
url http://hdl.handle.net/11336/89238
identifier_str_mv Salinas, Lucio Rafael; Santiago, Diego; Slawiñski, Emanuel; Mut, Vicente Antonio; Chavez Garcia, Geovanny Danilo; et al.; P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot; Inst Control Robotics & Systems; International Journal Of Control Automation And Systems; 16; 4; 8-2018; 1927-1937
1598-6446
2005-4092
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://link.springer.com/article/10.1007/s12555-017-0439-x
info:eu-repo/semantics/altIdentifier/doi/10.1007/s12555-017-0439-x
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Inst Control Robotics & Systems
publisher.none.fl_str_mv Inst Control Robotics & Systems
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1844613119949668352
score 13.070432

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