| Autor: |
Ahmad Abubakar, Yahya Zweiri, Ruqayya Alhammadi, Mohammed B. Mohiuddin, Mubarak Yakubu, Lakmal Seneviratne |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
|
| Zdroj: |
IEEE Access, Vol 12, Pp 111593-111610 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2169-3536 |
| DOI: |
10.1109/ACCESS.2024.3443204 |
| Popis: |
The challenges posed by terrain-induced slippage for wheeled rovers traversing soft terrains (e.g. lunar terrain) are critical to ensuring safe operation. Bilateral teleoperation systems present a promising solution to this issue, by conveying the slippage information as haptic feedback to the operator. However, communication delays present a significant challenge to achieving a high-fidelity closed-loop system, leading to reduced situational awareness and poor command-tracking performance. This paper proposes a first-order time-delayed (FOTD) predictor-based control scheme to design an effective bilateral teleoperation system. The closed-loop stability of the teleoperation system is analyzed in the presence of large delays. Our analysis revealed that while the conventional PD-like control scheme keeps the closed-loop teleoperation system stable, it performs poorly. In contrast, our proposed FOTD control scheme effectively stabilizes the closed-loop system without compromising performance. In our case study, we evaluated a bilateral teleoperated rover subjected to slippage and large delays encountered in lunar exploration. The FOTD control scheme successfully compensated for 75.9% of the delays in the simulations and 63.2% of the delays in the experiments. This effective compensation leads to higher fidelity closed-loop integration and better command-tracking performance. Furthermore, a comparative study demonstrates that our FOTD-controlled teleoperation approach exhibits less slippage and reduced task completion time, resulting in a higher task success rate compared to both PD-like-controlled and traditional teleoperation approaches. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
|
