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Scaled bilateral teleoperation using discrete-time sliding-mode controller / Khan, Shahzad in IEEE transactions on industrial electronics, Vol. 56 N° 9 (Septembre 2009) 

Public ISBD [article]  in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3609-3618 Titre : Scaled bilateral teleoperation using discrete-time sliding-mode controller Type de document : texte imprimé Auteurs : Khan, Shahzad, Auteur ; Asif Sabanovic, Auteur ; Nergiz, Ahmet Ozcan, Auteur Article en page(s) : pp. 3609-3618 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Bilateral  teleoperation  Discrete-time  Sliding-mode  controller Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : In this paper, the design of a discrete-time sliding-mode controller based on Lyapunov theory is presented along with a robust disturbance observer and is applied to a piezostage for high-precision motion. A linear model of a piezostage was used with nominal parameters to compensate the disturbance acting on the system in order to achieve nanometer accuracy. The effectiveness of the controller and disturbance observer is validated in terms of closed-loop position performance for nanometer references. The control structure has been applied to a scaled bilateral structure for the custom-built telemicromanipulation setup. A piezoresistive atomic force microscope cantilever with a built-in Wheatstone bridge is utilized to achieve the nanonewton-level interaction forces between the piezoresistive probe tip and the environment. Experimental results are provided for the nanonewton-range force sensing, and good agreement between the experimental data and the theoretical estimates has been demonstrated. Force/position tracking and transparency between the master and the slave has been clearly demonstrated after necessary scaling. DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=4812102 [...] [article] Scaled bilateral teleoperation using discrete-time sliding-mode controller [texte imprimé] / Khan, Shahzad, Auteur ; Asif Sabanovic, Auteur ; Nergiz, Ahmet Ozcan, Auteur . - pp. 3609-3618. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 56 N° 9 (Septembre 2009) . - pp. 3609-3618 Mots-clés : Bilateral  teleoperation  Discrete-time  Sliding-mode  controller Index. décimale : 621 Ingénierie mécanique en général. Technologie nucléaire. Ingénierie électrique. Machinerie Résumé : In this paper, the design of a discrete-time sliding-mode controller based on Lyapunov theory is presented along with a robust disturbance observer and is applied to a piezostage for high-precision motion. A linear model of a piezostage was used with nominal parameters to compensate the disturbance acting on the system in order to achieve nanometer accuracy. The effectiveness of the controller and disturbance observer is validated in terms of closed-loop position performance for nanometer references. The control structure has been applied to a scaled bilateral structure for the custom-built telemicromanipulation setup. A piezoresistive atomic force microscope cantilever with a built-in Wheatstone bridge is utilized to achieve the nanonewton-level interaction forces between the piezoresistive probe tip and the environment. Experimental results are provided for the nanonewton-range force sensing, and good agreement between the experimental data and the theoretical estimates has been demonstrated. Force/position tracking and transparency between the master and the slave has been clearly demonstrated after necessary scaling. DEWEY : 621 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?isnumber=5200775&arnumber=4812102 [...]