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Table of Contents
Intro; Preface; Contents; Symbols and Acronyms; 1 Introduction; 1.1 Background; 1.2 Methods and Issues; 1.2.1 Dynamical Model of Teleoperation System; 1.2.2 Control Methods for Teleoperation System; 1.3 Problems Studied in this Book; 1.3.1 Stability Analysis for Teleoperation System; 1.3.2 Control Scheme Design for Teleoperation System; 1.3.3 Velocity Observer Design for Teleoperation System; 1.3.4 Constrained Input for Teleoperation System; 1.4 Summary; References; Part I Stability Analysis of Networked Teleoperation System
2 Stability Analysis of Teleoperation Systems with Asymmetric Time-Varying Delays2.1 Introduction; 2.2 Preliminaries and Problem Formulation; 2.3 Stability Analysis; 2.4 Simulations and Experiments; 2.4.1 Simulation on a Teleoperation System of 2-DOF Planar Manipulators; 2.4.2 Experiment on a Teleoperated Pair of 3-DOF PHANToM Manipulator; 2.5 Summary; References; 3 Convergence Analysis of Teleoperation Systems with Nonpassive Forces; 3.1 Introduction; 3.2 Preliminaries and Problem Formulation; 3.3 Stability Analysis; 3.4 Simulation on a Teleoperation System of 2-DOF Planar Manipulators
3.5 SummaryReferences; 4 Stability Analysis of Teleoperation Systems with Asymmetric Interval Time-Varying Delays; 4.1 Introduction; 4.2 Preliminaries and Problem Formulation; 4.3 Main Results; 4.4 Simulation Example; 4.5 Summary; References; 5 Stability Analysis of Teleoperation Systems with Quantization; 5.1 Introduction; 5.2 Problem Statement; 5.3 Main Results; 5.4 Simulation Example; 5.5 Summary; References; Part II High-Performance Controller Design for Teleoperation System; 6 Directed Force Feedback Control Design with Asymmetric and Time-Varying Delays; 6.1 Introduction
6.2 System Formulation and Assumptions6.3 Main Results; 6.4 Simulation and Experiment; 6.5 Summary; References; 7 Teleoperation over the Internet with Exponential Convergence; 7.1 Introduction; 7.2 Preliminaries and Problem Formulation; 7.3 Main Results; 7.4 Simulations and Experiments; 7.4.1 Simulation Results; 7.4.2 Experimental Results; 7.5 Summary; References; 8 Finite Time Controller Design for Bilateral Teleoperation System; 8.1 Introduction; 8.2 Problem Formulation; 8.2.1 Dynamics of Teleoperator; 8.2.2 Fuzzy Logic Systems; 8.3 Main Results; 8.3.1 TSM Manifold
8.3.2 Finite-Time Controller Design8.3.3 Performance Analysis; 8.4 Numerical Simulations and Experiments; 8.4.1 Simulation Results; 8.4.2 Experiment Results; 8.5 Summary; References; 9 Constrained Control Design for Bilateral Teleoperation System; 9.1 Introduction; 9.1.1 Dynamics Models of Master and Slave; 9.1.2 RBF Neural Networks; 9.1.3 Terminal Sliding Mode; 9.2 Main Results; 9.2.1 Controller Design; 9.2.2 Performance Analysis; 9.3 Simulation and Experiment; 9.3.1 Simulation Results; 9.3.2 Experiment Results; 9.4 Summary; References; Part III Velocity Observer Design for Teleoperation System
2 Stability Analysis of Teleoperation Systems with Asymmetric Time-Varying Delays2.1 Introduction; 2.2 Preliminaries and Problem Formulation; 2.3 Stability Analysis; 2.4 Simulations and Experiments; 2.4.1 Simulation on a Teleoperation System of 2-DOF Planar Manipulators; 2.4.2 Experiment on a Teleoperated Pair of 3-DOF PHANToM Manipulator; 2.5 Summary; References; 3 Convergence Analysis of Teleoperation Systems with Nonpassive Forces; 3.1 Introduction; 3.2 Preliminaries and Problem Formulation; 3.3 Stability Analysis; 3.4 Simulation on a Teleoperation System of 2-DOF Planar Manipulators
3.5 SummaryReferences; 4 Stability Analysis of Teleoperation Systems with Asymmetric Interval Time-Varying Delays; 4.1 Introduction; 4.2 Preliminaries and Problem Formulation; 4.3 Main Results; 4.4 Simulation Example; 4.5 Summary; References; 5 Stability Analysis of Teleoperation Systems with Quantization; 5.1 Introduction; 5.2 Problem Statement; 5.3 Main Results; 5.4 Simulation Example; 5.5 Summary; References; Part II High-Performance Controller Design for Teleoperation System; 6 Directed Force Feedback Control Design with Asymmetric and Time-Varying Delays; 6.1 Introduction
6.2 System Formulation and Assumptions6.3 Main Results; 6.4 Simulation and Experiment; 6.5 Summary; References; 7 Teleoperation over the Internet with Exponential Convergence; 7.1 Introduction; 7.2 Preliminaries and Problem Formulation; 7.3 Main Results; 7.4 Simulations and Experiments; 7.4.1 Simulation Results; 7.4.2 Experimental Results; 7.5 Summary; References; 8 Finite Time Controller Design for Bilateral Teleoperation System; 8.1 Introduction; 8.2 Problem Formulation; 8.2.1 Dynamics of Teleoperator; 8.2.2 Fuzzy Logic Systems; 8.3 Main Results; 8.3.1 TSM Manifold
8.3.2 Finite-Time Controller Design8.3.3 Performance Analysis; 8.4 Numerical Simulations and Experiments; 8.4.1 Simulation Results; 8.4.2 Experiment Results; 8.5 Summary; References; 9 Constrained Control Design for Bilateral Teleoperation System; 9.1 Introduction; 9.1.1 Dynamics Models of Master and Slave; 9.1.2 RBF Neural Networks; 9.1.3 Terminal Sliding Mode; 9.2 Main Results; 9.2.1 Controller Design; 9.2.2 Performance Analysis; 9.3 Simulation and Experiment; 9.3.1 Simulation Results; 9.3.2 Experiment Results; 9.4 Summary; References; Part III Velocity Observer Design for Teleoperation System