Consensus Tracking for Teleoperating Cyber-physical System

  • Lingmin Zhang
  • Jing Yan
  • Xian Yang
  • Xiaoyuan Luo
  • Fuxiao Tan
  • Xinbin Li
Article
  • 14 Downloads

Abstract

In this paper, we investigate the consensus tracking problem for teleoperating cyber-physical system (TCPS) under time-varying delay and actuator saturation constraints. Due to the introduction of communication network, variable propagation time delays are considered in cyber element. In addition, actuator saturation problem is investigated in physical element, which is caused by the physical restrictions on robots. Then, a novel distributed consensus tracking controller is proposed in the presence of time-varying delay and actuator saturation. Meanwhile, sufficient conditions are provided to show that the consensus tracking controller can stabilize the master-slave TCPS. Finally, simulations and experiments are performed to validate our proposed results. It is shown that the consensus controllers can guarantee the asymptotic stability of single-master-multi-slave TCPS.

Keywords

Consensus cyber-physical system(CPS) teleoperation tracking 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. [1]
    O. Peñaloza-Mejía, L. Márquez-Martínez, J. Alvarez-Gallegos, and J. Alvarez, “Master-slave teleoperation of underactuated mechanical systems with communication delays,” International Journal of Control Automation and Systems, vol. 15, no. 2, pp. 65–73, March 2017.CrossRefGoogle Scholar
  2. [2]
    S. Yoon, W. Kim, and C. Min, “Design of bilateral control for force feedback in surgical robot master-slave teleoperation of underactuated mechanical systems with communication delays,” International Journal of Control Automation and Systems, vol. 13, no. 4, pp. 916–925, August 2015. [click]CrossRefGoogle Scholar
  3. [3]
    J. Yan, X. Yang, X. Luo, C. Chen, and X. Guan, “Consensus of teleoperating cyber-physical system via centralized and decentralized controllers,” IEEE Access, vol. 5, no. 1, pp. 17271–17287, August 2017. [click]CrossRefGoogle Scholar
  4. [4]
    M. Joordens and M. Jamshidi, “Consensus control for a system of underwater swarm robots,” IEEE Systems Journal, vol. 4, no. 1, pp. 65–73, February 2010. [click]CrossRefGoogle Scholar
  5. [5]
    M. Cai, Z. Xiang, and J. Guo, “Adaptive finite-time consensus protocols for multi-agent systems by using neural networks,” IET Control Theory and Applications, vol. 10, no. 4, pp. 371–380, February 2016. [click]CrossRefMathSciNetGoogle Scholar
  6. [6]
    M. Cai, Z. Xiang, and J. Guo, “Adaptive finite-time faulttolerant consensus protocols for multiple mechanical systems,” Journal of the Franklin Institute, vol. 353, no. 6, pp. 1386–1408, April 2016.CrossRefMATHMathSciNetGoogle Scholar
  7. [7]
    L. Yu, S. Fei, and L. Sun, “Design of robust adaptive neural switching controller for robotic manipulators with uncertainty and disturbances,” Journal of Intelligent & Robotic Systems, vol. 77, no. 3-4, pp. 571–581, March 2015.CrossRefGoogle Scholar
  8. [8]
    A. Franchi, C. Masone, H. Bülthoff, and P. Giordano, “Bilateral teleoperation of multiple UAVs with decentralized bearing-only formation control,” Processings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2215–2222, 2011.Google Scholar
  9. [9]
    W. Dong, M. Ghalia, C. Chen, and Y. Xing, “Teleoperation of a cluster of mobile robots subject to model uncertainty,” Processings of American Control Conference, pp. 6436–6441, 2011.Google Scholar
  10. [10]
    I. Polushin, S. Dashkovskiy, A. Takhmar, and R. Patel, “A small gain framework for networked cooperative forcereflecting teleoperation,” Automatica, vol. 49, no. 2, pp. 338–348, February 2013. [click]CrossRefMATHMathSciNetGoogle Scholar
  11. [11]
    Z. Li, L. Ding, H. Gao, G. Duan, and C. Su, “Trilateral teleoperation of adaptive fuzzy force/motion control for nonlinear teleoperators with communication random delays,” IEEE Transactions on Fuzzy Systems, vol. 21, no. 4, pp. 610–624, August 2013. [click]CrossRefGoogle Scholar
  12. [12]
    X. Yang, C. Hua, J. Yan, and X. Guan, “New stability criteria for networked teleoperation system,” Information Sciences, vol. 233, no. 1, pp. 244–254, June 2013. [click]CrossRefMATHMathSciNetGoogle Scholar
  13. [13]
    O. Palafox and M. Spong, “Bilateral teleoperation of a formation of nonholonomic mobile robots,” Processings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2821–2826, 2009.Google Scholar
  14. [14]
    Z. Xu, L. Ma, Z. Wu, and K. Schilling, “Teleoperating a formation of car-like rovers under time delays,” Processings of Chinese Control Conference, pp. 4095–4101, 2011.Google Scholar
  15. [15]
    F. Valentinis, A. Donaire, and T. Perez, “Energy-based motion control of a slender hull unmanned underwater vehicle,” Ocean Engineering, vol. 104, no. 4, pp. 604–616, August 2015.CrossRefGoogle Scholar
  16. [16]
    R. Cui, C. Yang, Y. Li, and S. Sharma, “Neural network based reinforcement learning control of autonomous underwater vehicles with control input saturation,” Processings of International Conference on Control, pp. 50–55, 2014.Google Scholar
  17. [17]
    D. Kim, “Tracking of REMUS autonomous underwater vehicles with actuator saturations,” Automatica, vol. 58, no. 1, pp. 15–21, August 2015.CrossRefMATHMathSciNetGoogle Scholar
  18. [18]
    F. Hashemzadeh, I. Hassanzadeh, and M. Tavakoli, “Teleoperation in the presence of varying time delays and sandwich linearity in actuators,” Automatica, vol. 49, no. 9, pp. 2813–2821, September 2013. [click]CrossRefMATHMathSciNetGoogle Scholar
  19. [19]
    J. Yan, X. Luo, X. Yang, C. Hua, and X. Guan, “Consensus of multi-slave bilateral teleoperation system with timevarying delays,” Journal of Intelligent and Robotic Systems, vol. 76, no. 2, pp. 239–253, November 2014. [click]CrossRefGoogle Scholar
  20. [20]
    X. Yang, C. Hua, J. Yan, and X. Guan, “Synchronization analysis for nonlinear bilateral teleoperator with interval time-varying delay,” International Journal of Robust and Nonlinear Control, vol. 25, no. 13, pp. 2142–2161, June 2015.CrossRefMATHMathSciNetGoogle Scholar
  21. [21]
    R. Kelly, V. Santibáñez, and A. Loria, Control of Robot Manipulators in Joint Space, Springer, London, 2005.Google Scholar
  22. [22]
    M. Stojanovica and J. Preisig, “Underwater acoustic communication channels: propagation models and statistical characterization,” IEEE Communications Magazine, vol. 47, no. 1, pp. 84–89, February 2009. [click]CrossRefGoogle Scholar
  23. [23]
    Z. Zhou, Z. Peng, J. Cui, and Z. Shi, “Efficient multipath communication for time-critical applications in underwater acoustic sensor networks,” IEEE/ACM Transactions on Networking, vol. 19, no. 1, pp. 28–41, February 2011. [click]CrossRefGoogle Scholar
  24. [24]
    L. Liu, Y. Liu, and N. Zhang, “A complex network approach to topology control problem in underwater acoustic sensor networks,” IEEE Transactions on Parallel and Distributed Systems, vol. 25, no. 12, pp. 3046–3055, January 2014. [click]CrossRefGoogle Scholar
  25. [25]
    C. Hua, X. Yang, J. Yan, and X. Guan, “On exploring the domain of attraction for bilateral teleoperator subject to interval delay and saturated P+d control scheme,” IEEE Transactions on Automatic Control, vol. 62, no. 6, pp. 2923–2928, June 2017.CrossRefMATHMathSciNetGoogle Scholar
  26. [26]
    T. Hu, Z. Lin, and B. Chen, “Analysis and design for discrete-time linear systems subject to actuator saturation,” Systems & Control Letters, vol. 45, no. 2, pp. 97–112 February 2002. [click]CrossRefMATHMathSciNetGoogle Scholar
  27. [27]
    F. Hashemzadeh, I. Hassanzadeh, and M. Tavakoli, “Teleoperation in the presence of varying time delays and sandwich linearity in actuators,” Automatica, vol. 49, no. 9, pp. 2813–2821, September 2013. [click]CrossRefMATHMathSciNetGoogle Scholar
  28. [28]
    J. Yan„ Y. Wan, X. Luo, C. Chen. and C. Hua, “Formation control of teleoperating cyber-physical system with time delay and actuator saturation,” IEEE Transactions on Control Systems Technology, vol. PP, no. 99, pp. 1–10, 2017.Google Scholar
  29. [29]
    J. Yan, Y. Wan, C. Chen, C. Hua, and X. Guan, “Formation control of teleoperating cyber-physical system subject to time delay and actuator saturation constraints,” Processings of IEEE Conference on Decision and Control, pp. 4358–4363, 2016.Google Scholar
  30. [30]
    Experiment of the Consensus Tracking Controller, accessed on Aug. 2017. [Online] Available: http://v.youku.com/v_show/id_XMjk1NTg0NTk0NA==. html?spm=a2h3j.8428770.3416059.1Google Scholar

Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Lingmin Zhang
    • 1
  • Jing Yan
    • 2
  • Xian Yang
    • 2
  • Xiaoyuan Luo
    • 2
  • Fuxiao Tan
    • 3
  • Xinbin Li
    • 2
  1. 1.Department of Automation, Yanshan University, and she is also with the School of Mathematics and Information Science and TechnologyHebei Normal University of Science and TechnologyQinhuangdaoChina
  2. 2.Department of AutomationYanshan UniversityQinhuangdaoChina
  3. 3.School of Computer and Information EngineeringFuyang Normal UniversityFuyangChina

Personalised recommendations