Bilateral control of nonlinear teleoperation with time varying communication delays

Hisanosuke Kawada, Toru Namerikawa

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

29 Citations (Scopus)

Abstract

This paper addresses the bilateral control of nonlinear teleoperation with time varying communication delays. The proposed methods are two types of simple PD-type controllers which consists of D-controls depending on (the upper bound of) the rate of change of delay and P-controls depending on the upper bound of round-trip delay. Using Lyapunov-Krasovskii function, the delay-dependent stability of the origin is shown for the ranges of gains. Furthermore the proposed strategies also achieve master-slave position coordination and bilateral static force reflection. Several experimental results show the effectiveness of our proposed methods.

Original languageEnglish
Title of host publication2008 American Control Conference, ACC
Pages189-194
Number of pages6
DOIs
Publication statusPublished - 2008 Sep 30
Externally publishedYes
Event2008 American Control Conference, ACC - Seattle, WA, United States
Duration: 2008 Jun 112008 Jun 13

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2008 American Control Conference, ACC
CountryUnited States
CitySeattle, WA
Period08/6/1108/6/13

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Kawada, H., & Namerikawa, T. (2008). Bilateral control of nonlinear teleoperation with time varying communication delays. In 2008 American Control Conference, ACC (pp. 189-194). [4586489] (Proceedings of the American Control Conference). https://doi.org/10.1109/ACC.2008.4586489