A state predictor for bilateral teleoperation with communication time delay

Kouei Yoshida, Toru Namerikawa, Oliver Sawodny

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

4 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 languageEnglish
Title of host publicationProceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
Pages4590-4595
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 1
Externally publishedYes
Event47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico
Duration: 2008 Dec 92008 Dec 11

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other47th IEEE Conference on Decision and Control, CDC 2008
CountryMexico
CityCancun
Period08/12/908/12/11

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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). https://doi.org/10.1109/CDC.2008.4739019