title: Bilateral shared autonomous systems with passive and nonpassive input forces under time varying delay.
abstract: In this paper, we address stability and tracking control problem of bilateral shared autonomous systems in the presence of passive and nonpassive input interaction forces. The design comprises delayed position and position-velocity signals with the known and unknown structures of the master and slave manipulator dynamics. Using novel Lyapunov-Krasovskii functional, stability and tracking conditions of the coupled master-slave shared autonomous systems are developed under symmetrical and unsymmetrical time varying data transmission delays. This condition allows the designer to estimate the control design parameters to ensure position, velocity and synchronizing errors of the master and slave manipulators. Finally, evaluation results are presented to demonstrate the validity of the proposed design for real-time teleoperation applications.
authors.affiliation: University of Ottawa, Ottawa, Canada; Carleton University, Ottawa, Canada; KUSTAR, Abu Dhabi, UAE. Electronic address: sislam@sce.carleton.ca.
authors.forename: Shafiqul
authors.initials: S
authors.lastname: Islam
authors.affiliation: Carleton University, Ottawa, Canada.
authors.forename: Peter X
authors.initials: PX
authors.lastname: Liu
authors.affiliation: University of Ottawa, Ottawa, Canada.
authors.forename: Abdulmotaleb
authors.initials: A
authors.lastname: El Saddik
authors.affiliation: University of Coimbra, Portugal; KUSTAR, Abu Dhabi, UAE.
authors.forename: J
authors.initials: J
authors.lastname: Dias
authors.affiliation: KUSTAR, Abu Dhabi, UAE; King's College London, UK.
authors.forename: Lakmal
authors.initials: L
authors.lastname: Seneviratne
keywords: Lyapunov–Krasovskii functional; Passive and nonpassive interaction force; Shared autonomy; Time varying delay