Nonlinear extended state observer based control for the teleoperation of robotic systems with flexible joints

Yongli Yan; Fucai Liu; Teng Ren; Li Ding; Yongli Yan; Fucai Liu; Teng Ren; Li Ding

doi:10.3934/mbe.2024051

Mathematical Biosciences and Engineering

2024, Volume 21, Issue 1: 1203-1227. doi: 10.3934/mbe.2024051

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Research article

Nonlinear extended state observer based control for the teleoperation of robotic systems with flexible joints

1.
Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing 100083, China
2.
The Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China
3.
School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870, China
4.
School of Biological Science and Medical Engineering, Beihang University, Beijing 100083, China

Received: 07 September 2023 Revised: 15 December 2023 Accepted: 20 December 2023 Published: 25 December 2023

The control of robot manipulator pose is significantly complicated by the uncertainties arising from flexible joints, presenting substantial challenges in incorporating practical operational constraints. These challenges are further exacerbated in teleoperation scenarios, where factors such as synchronization and external disturbances further amplify the difficulties. At the core of this research is the introduction of a pioneering teleoperation controller, ingeniously integrating a nonlinear extended state observer (ESO) with the barrier Lyapunov function (BLF) while effectively accommodating a steady time delay. The controller in our study demonstrates exceptional proficiency in accurately estimating uncertainties arising from both flexible joints and external disturbances using the nonlinear ESO. Refined estimates, in conjunction with operational constraints of the system, are integrated into our BLF-based controller. Consequently, a synchronized control mechanism for teleoperation is achieved, exhibiting promising performance. Importantly, our experimental findings provide substantial evidence that our proposed approach effectively reduces the tracking error of the teleoperation system to within 0.02 rad. This advancement highlights the potential of our controller in significantly enhancing the precision and reliability of teleoperated robot manipulators.
- nonlinear extended state observer,
- teleoperation,
- flexible joints,
- barrier Lyapunov function,
- state constraint
Citation: Yongli Yan, Fucai Liu, Teng Ren, Li Ding. Nonlinear extended state observer based control for the teleoperation of robotic systems with flexible joints[J]. Mathematical Biosciences and Engineering, 2024, 21(1): 1203-1227. doi: 10.3934/mbe.2024051

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Abstract

The control of robot manipulator pose is significantly complicated by the uncertainties arising from flexible joints, presenting substantial challenges in incorporating practical operational constraints. These challenges are further exacerbated in teleoperation scenarios, where factors such as synchronization and external disturbances further amplify the difficulties. At the core of this research is the introduction of a pioneering teleoperation controller, ingeniously integrating a nonlinear extended state observer (ESO) with the barrier Lyapunov function (BLF) while effectively accommodating a steady time delay. The controller in our study demonstrates exceptional proficiency in accurately estimating uncertainties arising from both flexible joints and external disturbances using the nonlinear ESO. Refined estimates, in conjunction with operational constraints of the system, are integrated into our BLF-based controller. Consequently, a synchronized control mechanism for teleoperation is achieved, exhibiting promising performance. Importantly, our experimental findings provide substantial evidence that our proposed approach effectively reduces the tracking error of the teleoperation system to within 0.02 rad. This advancement highlights the potential of our controller in significantly enhancing the precision and reliability of teleoperated robot manipulators.

References

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