Generalized scattering-based design and cooperative control in teleoperator systems

本申请中提出的研究计划旨在开发分析和设计力反射遥操作系统的新方法，特别是包括遥操作系统不同部分之间的合作。该研究计划将解决与复杂遥控系统分析和设计相关的重要理论和实践问题。这项新研究计划的主要方向是基于行为建模方法和广泛使用广义散射转换，以及对运动/力同步，共识和远程操作系统各部分之间合作的方法和算法的详细研究，为复杂远程操作系统开发新的强大设计框架。作为提出的研究计划的结果，复杂遥控系统的分析和设计的新方法将被开发出来，与目前现有的方法相比，这些方法实质上更强大。特别是，基于遥操作系统行为建模和非线性二次系统形式化的方法以及广义散射变换的广泛使用将扩展现有的基于有限无源和基于小增益的设计方法，并将产生更通用和更少保守的设计方法和程序，特别是在存在通信延迟的情况下。这些新方法还将允许将许多现有的线性频域方法扩展到非线性遥操作系统的实际重要情况。协作式遥操作系统的一致性和同步化算法将提高协作式遥操作的灵巧性和精度，并可用于执行复杂和困难的任务，这些任务需要在从机之间精确地同步运动和力。这些结果将导致设计新的高性能触觉远程操作系统，用于广泛的实际应用，包括微创手术系统，协同灵巧处理材料，以及无人机群协同执行任务（如处理共同负载）的触觉远程操作。培养高素质人才是拟议研究计划的重要组成部分。在拟议的研究计划过程中接受的培训将为受训者未来的专业成功提供坚实的背景，并将使他们在当今高科技就业市场上具有竞争优势。本课题的研究成果将对先进遥控系统的理论和实践产生重大影响。

The research program proposed in this application aims at development of new methods for analysis and design of force reflecting teleoperator systems that, in particular, include cooperation between different parts of a teleoperator system. The research program will address important theoretical and practical issues related to the analysis and design of complex teleoperator systems. The major directions of this new research program are related to the development of new powerful design framework for complex teleoperator systems that will be based on behavioural approach to modeling and extensive use of generalized scattering transformations, as well as detailed investigation of methods and algorithms for motions/forces synchronization, consensus, and cooperation between parts of a teleoperator system. As an outcome of the proposed research program, new methods for analysis and design of complex teleoperator systems will be developed that are substantially more powerful in comparison with the currently existing methods. In particular, the approach based on behavioral modeling of teleoperator systems and nonlinear conic systems formalism as well as extensive use of generalized scattering transformations will extend the existing limited passivity-based and small-gain-based design approaches and will result in more general and less conservative design methods and procedures, particularly in the presence of communication delays. These new methods will also allow for an extension of many existing linear frequency-domain methods to the practically important case of nonlinear teleoperator systems. The new algorithms for consensus and synchronization in cooperative teleoperator systems will result in improved dexterity and precision of cooperative telemanipulation and allow for execution of complex and difficult tasks which require precise synchronization of motion and forces between slaves. These results will lead to design of new high-performance haptic teleoperation systems for wide range of practical applications, including minimally-invasive surgical systems, cooperative dextrous handling of materials, as well as haptic teleoperation of groups of unmanned aerial vehicles cooperatively executing a task such as handling a common load. The training of highly qualified personnel constitutes an important part of the proposed research program. The training received over the course of the proposed research program will provide a solid background for the trainees' future professional success and will give them competitive advantage in today's high-tech job market. The results achieved during the course of the proposed research program are expected to make substantial impact on the theory and practice of advanced teleoperator systems.