Robust impedance control of a delayed telemanipulator considering hysteresis nonlinearity of the piezo-actuated slave robot

Research output: Chapter in Book/Report/Conference proceedingConference contribution


  • Reza Seifabadi
  • Seyed Mehdi Rezaei
  • Saeed Shiry
  • Mohammad Zarei-Nejad
  • Kamran Razi
  • Hossein Habibollahi

Colleges, School and Institutes

External organisations

  • Amirkabir University of Technology
  • School of Mechanical and Manufacturing Engineering
  • Univ. of Tehran


The slave robot in this research is a 1-DOF piezo actuatorwhich includes hysteresis nonlinearity. Nonlinear hysteresis behavior makes robot control a complex task. In this research, the nonlinear and uncertain dynamics of the slave robot has been considered through the teleoperation control loop. LuGre friction model is used as the estimator of the hysteresis loop. An impedance controller for the master side and a sliding-mode-based impedance controller for the slave side have been proposed. The latter is a sliding mode controller, because the plant is nonlinear and uncertain. Also, it is an impedance controller providing both high performances during contact and excellent tracking in free space motion. These controllers make teleoperator robustly stable against uncertainties and bounded constant time delay. Meanwhile, scaling factors, known as sources of instability, have no disturbing effect. After canceling the nonlinear term out of the teleoperator by the controllers, stability of the entire system will be guaranteed by Llewellyn's absolute stability criterion. Performance of the proposed controllers is investigated through simulation.


Original languageEnglish
Title of host publicationHaptics
Subtitle of host publicationPerception, Devices and Scenarios - 6th International Conference, EuroHaptics 2008, Proceedings
Publication statusPublished - 2008
Event6th International Conference on Haptics: Perception, Devices and Scenarios, EuroHaptics 2008 - Madrid, Spain
Duration: 10 Jun 200813 Jun 2008

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5024 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference6th International Conference on Haptics: Perception, Devices and Scenarios, EuroHaptics 2008


  • Hysteresis, impedance controller, LuGre model, macro-micro telemanipulation, Nonlinear, piezo-actuator, robustness, scaling, sliding mode, time delay