A state predictor for bilateral teleoperation with communication time delay

Kouei Yoshida; Toru Namerikawa; Oliver Sawodny

doi:10.1109/CDC.2008.4739019

A state predictor for bilateral teleoperation with communication time delay

Kouei Yoshida, Toru Namerikawa, Oliver Sawodny

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

5 Citations (Scopus)

Abstract

In this paper, the new state predictors are proposed to improve the performance of the predictors in predictive controller for teleoperation with time delay. The proposed state predictors are designed based on solution trajectories of the dynamics. The prediction errors of the proposed predictors do not depend on past prediction errors. To achieve nondelayed synchronization, proposed predictors are incorporated to the predictive control structure. Using the Lyapunov stability method, the proposed control structure is shown to be stable even in the presence of time delay. Experimental results show the effectiveness of our proposed teleoperation.

Original language	English
Title of host publication	Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4590-4595
Number of pages	6
ISBN (Print)	9781424431243
DOIs	https://doi.org/10.1109/CDC.2008.4739019
Publication status	Published - 2008
Externally published	Yes
Event	47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico Duration: 2008 Dec 9 → 2008 Dec 11

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	47th IEEE Conference on Decision and Control, CDC 2008
Country/Territory	Mexico
City	Cancun
Period	08/12/9 → 08/12/11

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Control and Optimization

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10.1109/CDC.2008.4739019

Cite this

Yoshida, K., Namerikawa, T., & Sawodny, O. (2008). A state predictor for bilateral teleoperation with communication time delay. In Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008 (pp. 4590-4595). [4739019] (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2008.4739019

A state predictor for bilateral teleoperation with communication time delay. / Yoshida, Kouei; Namerikawa, Toru; Sawodny, Oliver.

Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008. Institute of Electrical and Electronics Engineers Inc., 2008. p. 4590-4595 4739019 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yoshida, K, Namerikawa, T & Sawodny, O 2008, A state predictor for bilateral teleoperation with communication time delay. in Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008., 4739019, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 4590-4595, 47th IEEE Conference on Decision and Control, CDC 2008, Cancun, Mexico, 08/12/9. https://doi.org/10.1109/CDC.2008.4739019

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abstract = "In this paper, the new state predictors are proposed to improve the performance of the predictors in predictive controller for teleoperation with time delay. The proposed state predictors are designed based on solution trajectories of the dynamics. The prediction errors of the proposed predictors do not depend on past prediction errors. To achieve nondelayed synchronization, proposed predictors are incorporated to the predictive control structure. Using the Lyapunov stability method, the proposed control structure is shown to be stable even in the presence of time delay. Experimental results show the effectiveness of our proposed teleoperation.",

author = "Kouei Yoshida and Toru Namerikawa and Oliver Sawodny",

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AB - In this paper, the new state predictors are proposed to improve the performance of the predictors in predictive controller for teleoperation with time delay. The proposed state predictors are designed based on solution trajectories of the dynamics. The prediction errors of the proposed predictors do not depend on past prediction errors. To achieve nondelayed synchronization, proposed predictors are incorporated to the predictive control structure. Using the Lyapunov stability method, the proposed control structure is shown to be stable even in the presence of time delay. Experimental results show the effectiveness of our proposed teleoperation.

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A state predictor for bilateral teleoperation with communication time delay

Abstract

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