TY - GEN
T1 - Bilateral control of nonlinear teleoperation with time varying communication delays
AU - Kawada, Hisanosuke
AU - Namerikawa, Toru
PY - 2008/9/30
Y1 - 2008/9/30
N2 - 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.
AB - 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.
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U2 - 10.1109/ACC.2008.4586489
DO - 10.1109/ACC.2008.4586489
M3 - Conference contribution
AN - SCOPUS:52449134549
SN - 9781424420797
T3 - Proceedings of the American Control Conference
SP - 189
EP - 194
BT - 2008 American Control Conference, ACC
T2 - 2008 American Control Conference, ACC
Y2 - 11 June 2008 through 13 June 2008
ER -