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Analysis and Design for Networked Teleoperation System

  • Book
  • © 2019

Overview

Authors:
  1. Changchun Hua

    1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China

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  2. Yana Yang

    1. Yanshan University, Qinhuangdao, China

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  3. Xian Yang

    1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China

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  4. Xinping Guan

    1. Department of Automation, Shanghai Jiao Tong University, Shanghai, China

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  • Investigates the most common issues in networked teleoperation systems and their solutions
  • Offers the most comprehensive and effective designing method of control strategies for nonlinear teleoperation systems
  • Includes a wealth of simulation examples and experimental examples

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Table of contents (13 chapters)

  1. Front Matter

    Pages i-xiv
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  2. Introduction

    • Changchun Hua, Yana Yang, Xian Yang, Xinping Guan
    Pages 1-17

  3. Stability Analysis of Networked Teleoperation System

    1. Front Matter

      Pages 19-19
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    2. Stability Analysis of Teleoperation Systems with Asymmetric Time-Varying Delays

      • Changchun Hua, Yana Yang, Xian Yang, Xinping Guan
      Pages 21-34

    3. Convergence Analysis of Teleoperation Systems with Nonpassive Forces

      • Changchun Hua, Yana Yang, Xian Yang, Xinping Guan
      Pages 35-43

    4. Stability Analysis of Teleoperation Systems with Asymmetric Interval Time-Varying Delays

      • Changchun Hua, Yana Yang, Xian Yang, Xinping Guan
      Pages 45-66

    5. Stability Analysis of Teleoperation Systems with Quantization

      • Changchun Hua, Yana Yang, Xian Yang, Xinping Guan
      Pages 67-82

  4. High-Performance Controller Design for Teleoperation System

    1. Front Matter

      Pages 83-83
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    2. Directed Force Feedback Control Design with Asymmetric and Time-Varying Delays

      • Changchun Hua, Yana Yang, Xian Yang, Xinping Guan
      Pages 85-96

    3. Teleoperation over the Internet with Exponential Convergence

      • Changchun Hua, Yana Yang, Xian Yang, Xinping Guan
      Pages 97-111

    4. Finite Time Controller Design for Bilateral Teleoperation System

      • Changchun Hua, Yana Yang, Xian Yang, Xinping Guan
      Pages 113-140

    5. Constrained Control Design for Bilateral Teleoperation System

      • Changchun Hua, Yana Yang, Xian Yang, Xinping Guan
      Pages 141-164

  5. Velocity Observer Design for Teleoperation System

    1. Front Matter

      Pages 165-165
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    2. Output Feedback Controller Design for Teleoperation System via High-Gain Observer

      • Changchun Hua, Yana Yang, Xian Yang, Xinping Guan
      Pages 167-176

    3. Finite Time Observer Design for Teleoperation System

      • Changchun Hua, Yana Yang, Xian Yang, Xinping Guan
      Pages 177-202

  6. Constrained Input for Teleoperation System

    1. Front Matter

      Pages 203-203
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    2. On Exploring the Domain of Attraction for Bilateral Teleoperator

      • Changchun Hua, Yana Yang, Xian Yang, Xinping Guan
      Pages 205-220

    3. Adaptive Controller Design for Teleoperation System with Actuator Saturation

      • Changchun Hua, Yana Yang, Xian Yang, Xinping Guan
      Pages 221-247
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Keywords

About this book

This book presents cutting-edge results on stability analysis and control scheme designs for networked teleoperation systems. It highlights new research on commonly encountered nonlinear teleoperation systems, including the stability analysis of teleoperation systems with asymmetric time-varying delays, stability analysis of teleoperation systems with interval time delays, and so on. Moreover, the book presents several high-performance control scheme designs for teleoperation systems when the velocity is available and unavailable, and for systems with nonlinear input. The results presented here mark a substantial contribution to nonlinear teleoperation system theory, robotic control theory and networked control system theory. As such, the book will be of interest to university researchers, R&D engineers and graduate students in control theory and control engineering who wish to learn about the core principles, methods, algorithms, and applications of networked teleoperation systems, robotic systems and nonlinear control systems.

Reviews

“The book should be of interest to researchers and engineers from academic and industry communities, as well as graduate students and Ph.D. students in nonlinear teleoperation system theory, robotic control theory, network control system theory, communication engineering, etc.” (Clementina Mladenova, zbMATH 1427.93003, 2020)

Authors and Affiliations

  • Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China

    Changchun Hua, Xian Yang

  • Yanshan University, Qinhuangdao, China

    Yana Yang

  • Department of Automation, Shanghai Jiao Tong University, Shanghai, China

    Xinping Guan

About the authors

Changchun Hua received the Ph.D degree in electrical engineering from Yanshan University, Qinhuangdao, China, in 2005. He was a research Fellow in National University of Singapore from 2006 to 2007. From 2007 to 2009, he worked in Carleton University, Canada, funded by Province of Ontario Ministry of Research and Innovation Program. From 2009 to 2011, he worked in University of Duisburg Essen, Germany, funded by Alexander von Humboldt Foundation. Now he is a full Professor in Yanshan University, China. He is the author or coauthor of more than 130 papers in mathematical, technical journals, and conferences. He has been involved in more than 10 projects supported by the National Natural Science Foundation of China, the National Education Committee Foundation of China, and other important foundations. His research interests are in nonlinear control systems, control systems design over network, teleoperation systems and intelligent control.

Yana Yang received her Ph.D degree in electrical engineering from Yanshan University, Qinhuangdao, China, in 2017. Now she is a full Associate Professor in Yanshan University, China. She has been involved in more than 5 projects supported by the National Natural Science Foundation of China, the National Education Committee Foundation of China, and other important foundations. Her research interests are in nonlinear control systems, teleoperation systems and sliding mode control.

Xian Yang received her Ph.D degree in electrical engineering from Yanshan University, Qinhuangdao, China, in 2016. Now she is a full Associate Professor in Yanshan University, China. She has been involved in more than 6 projects supported by the National Natural Science Foundation of China, the National Education Committee Foundation of China, and other important foundations. Her research interests are in control systems design over network and networked teleoperation systems.

Xinping Guan received the B.S. degree in mathematics from Harbin Normal University, Harbin, China, and the M.S. degree in applied mathematics and the Ph.D. degree in electrical engineering, both from Harbin Institute of Technology, in 1986, 1991, and 1999, respectively. He is with the Department of Automation, Shanghai Jiao Tong University. He is the (co)author of more than 200 papers in mathematical, technical journals, and conferences. As (a)an (co)-investigator, he has finished more than 20 projects supported by National Natural Science Foundation of China (NSFC), the National Education Committee Foundation of China, and other important foundations. He is Cheung Kong Scholars Programme Special appointment professor. His current research interests include networked control systems, robust control and intelligent control for complex systems and their applications. Dr. Guan is serving as a Reviewer of Mathematic Review of America, a Member of the Council of Chinese Artificial Intelligence Committee, and Chairmanof Automation Society of Hebei Province, China.

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