Bilateral control with constant feedback gains for teleoperation with time varying delay

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

21 Citations (Scopus)

Abstract

This paper describes a bilateral control of nonlinear teleoperation with time varying communication delay. The proposed method are simple PD-type controllers which are independent of the rate of time delay change and depend on the upper bound of round-trip delay. The proposed control strategy is independent of parameter uncertainties of the model of the robots and the operator and remote environment. The delay-dependent stability of the origin is shown via Lyapunov stability theorem. Furthermore the proposed strategy also achieves master-slave position coordination and bilateral static force reflection. Several experimental results with wireless communication and the Internet show the effectiveness of our proposed strategy.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages7527-7532
Number of pages6
DOIs
Publication statusPublished - 2009
Event48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China
Duration: 2009 Dec 152009 Dec 18

Other

Other48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
CountryChina
CityShanghai
Period09/12/1509/12/18

Fingerprint

Teleoperation
Remote control
Time-varying Delay
Feedback
Lyapunov Theorem
Communication Delay
Delay-dependent Stability
Lyapunov Stability
Communication
Stability Theorem
Parameter Uncertainty
Wireless Communication
Control Strategy
Time Delay
Time delay
Robot
Internet
Robots
Upper bound
Controller

ASJC Scopus subject areas

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

Cite this

Namerikawa, T. (2009). Bilateral control with constant feedback gains for teleoperation with time varying delay. In Proceedings of the IEEE Conference on Decision and Control (pp. 7527-7532). [5399781] https://doi.org/10.1109/CDC.2009.5399781

Bilateral control with constant feedback gains for teleoperation with time varying delay. / Namerikawa, Toru.

Proceedings of the IEEE Conference on Decision and Control. 2009. p. 7527-7532 5399781.

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

Namerikawa, T 2009, Bilateral control with constant feedback gains for teleoperation with time varying delay. in Proceedings of the IEEE Conference on Decision and Control., 5399781, pp. 7527-7532, 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China, 09/12/15. https://doi.org/10.1109/CDC.2009.5399781
Namerikawa T. Bilateral control with constant feedback gains for teleoperation with time varying delay. In Proceedings of the IEEE Conference on Decision and Control. 2009. p. 7527-7532. 5399781 https://doi.org/10.1109/CDC.2009.5399781
Namerikawa, Toru. / Bilateral control with constant feedback gains for teleoperation with time varying delay. Proceedings of the IEEE Conference on Decision and Control. 2009. pp. 7527-7532
@inproceedings{25f1241c523d444aa477e006215e9255,
title = "Bilateral control with constant feedback gains for teleoperation with time varying delay",
abstract = "This paper describes a bilateral control of nonlinear teleoperation with time varying communication delay. The proposed method are simple PD-type controllers which are independent of the rate of time delay change and depend on the upper bound of round-trip delay. The proposed control strategy is independent of parameter uncertainties of the model of the robots and the operator and remote environment. The delay-dependent stability of the origin is shown via Lyapunov stability theorem. Furthermore the proposed strategy also achieves master-slave position coordination and bilateral static force reflection. Several experimental results with wireless communication and the Internet show the effectiveness of our proposed strategy.",
author = "Toru Namerikawa",
year = "2009",
doi = "10.1109/CDC.2009.5399781",
language = "English",
isbn = "9781424438716",
pages = "7527--7532",
booktitle = "Proceedings of the IEEE Conference on Decision and Control",

}

TY - GEN

T1 - Bilateral control with constant feedback gains for teleoperation with time varying delay

AU - Namerikawa, Toru

PY - 2009

Y1 - 2009

N2 - This paper describes a bilateral control of nonlinear teleoperation with time varying communication delay. The proposed method are simple PD-type controllers which are independent of the rate of time delay change and depend on the upper bound of round-trip delay. The proposed control strategy is independent of parameter uncertainties of the model of the robots and the operator and remote environment. The delay-dependent stability of the origin is shown via Lyapunov stability theorem. Furthermore the proposed strategy also achieves master-slave position coordination and bilateral static force reflection. Several experimental results with wireless communication and the Internet show the effectiveness of our proposed strategy.

AB - This paper describes a bilateral control of nonlinear teleoperation with time varying communication delay. The proposed method are simple PD-type controllers which are independent of the rate of time delay change and depend on the upper bound of round-trip delay. The proposed control strategy is independent of parameter uncertainties of the model of the robots and the operator and remote environment. The delay-dependent stability of the origin is shown via Lyapunov stability theorem. Furthermore the proposed strategy also achieves master-slave position coordination and bilateral static force reflection. Several experimental results with wireless communication and the Internet show the effectiveness of our proposed strategy.

UR - http://www.scopus.com/inward/record.url?scp=77950792440&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77950792440&partnerID=8YFLogxK

U2 - 10.1109/CDC.2009.5399781

DO - 10.1109/CDC.2009.5399781

M3 - Conference contribution

AN - SCOPUS:77950792440

SN - 9781424438716

SP - 7527

EP - 7532

BT - Proceedings of the IEEE Conference on Decision and Control

ER -