A Control Method for SMMS Teleoperation System with Affection of Disturbance

International Journal of Electrical and Electronics Engineering
© 2018 by SSRG - IJEEE Journal
Volume 5 Issue 11
Year of Publication : 2018
Authors : Ngoc Trung Dang and Xuan Thuan Nguyen
How to Cite?

Ngoc Trung Dang and Xuan Thuan Nguyen, "A Control Method for SMMS Teleoperation System with Affection of Disturbance," SSRG International Journal of Electrical and Electronics Engineering, vol. 5,  no. 11, pp. 1-8, 2018. Crossref, https://doi.org/10.14445/23488379/IJEEE-V5I11P101


The article presents an overview of some problems in controlling the Teleoperation SMMS (Single Master – Multi Slave) and establishes a control structure that coordinates the slave robots to perform a common task with regard to the effect of disturbance on the system. Based on the dynamic analysis of the Teleoperation SMMS system, with the specific task of the master robot as well as each slave robot, the combination of the disturbance estimation algorithm and the PD - Virtual Damping control algorithm for each robot ensures that the robot trajectory of the slave robot system is dramatically tracked to the trajectory of the master robot under supervision of the operator. By simulating on a Matlab Simulink for the object of Teleoperation SMMS with 2 DOF planar robot arm indicates the correctness of the proposed control method


Teleoperation, SMMS system, PD Controller, Disturbance estimation, Tele-robot


[1] Dang Ngoc Trung, Do Trung Hai, Do Duc Nam , “Design of robust adaptive control for the remotely operated system with invariant communication delays ”, Special Reports on Control and Automation, No. 16, ISSN 1859 - 0551, p. 69 -76, 2016. 
[2] R.J Anderson and M.W Spong, “Bilateral control of Teleoperators with Time Delay”, IEEE Trans on Automatic Control, Vol.43, Issue 5, p.494-501, 1989. 
[3] Nikhil Chopra, M.W Spong R. Ortega, Nikita E. Barabanov, “On position Tracking in Bilateral Teleoperation”, Proc. of the 2004 ACC Boston, pp 5244-5249, 2004. 
[4] Dongjun Lee, and Mark W. Spong, “Passive Bilateral Teleoperation With Constant Time Delay”, IEEE Transaction on Robotics,Vol.22,No.2p.269-281R, 2006. 
[5] Toru Namerikawa, “Bilateral Control with Constant Feedback Gains for Teleoperation with Time Varying Delay”, Shanghai, P.R. China, 2009. 
[6] Dongjun Lee and Mark W. Spong, “Passive bilateral control of teleoperators under constant time-delay”, Proc. of the 16th IFAC World Congress, Czech Republic, 2005. 
[7] H. C. Cho and J. H. Park, “Impedance control with variable damping for bilateral teleoperation under time delay”, JSME Int. Journal, serial C, Vol. 48, No.4, 2005. 
[8] T. Namerikawa and H. Kawada, “Symmetric Impedence Matched Teleroperation with Postision Tracking”, Proc. of 45th IEEE Conference on Decision and Control, p.4496 – 4501, 2006. 
[9] J. Park, R. Cortesao, and O. Khatib, “Robust and Adaptive Teleoperation for Compliant Motion Tasks”, Stanford University, Robotics Group, 94305-9010 CA, USA, 2009. 
[10] H. Khalil, Nonlinear systems, Prentice Hall, Upper Saddle River, NJ07458, 1996. 
[11] Nam D. D. and T. Namerikawa, “Four-channel Force-Reflecting Teleoperation with Impedance Control”, Int. Journal of Advanced Mechatronic Systems, Vol.2, No.5/6, pp.318-329, 2010. 
[12] Thuan Nguyen, Nam Do, Hung Nguyen, Akira Sone and Arata Masuda, “Bilaterral Teleoperation control based on scattering virtual damping”, 12th MOVIC, 2014.