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 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Pages7527-7532
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
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

Publication series

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

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

ASJC Scopus subject areas

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

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  • Cite this

    Namerikawa, T. (2009). Bilateral control with constant feedback gains for teleoperation with time varying delay. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (pp. 7527-7532). [5399781] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2009.5399781