Delay independent L2 stable multilateral teleoperation with damping injection

Ugur Tumerdem, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

This paper introduces a method to realize multilateral teleoperation(multi operator/multi robot teleoperation) under time delay. This method provides stability regardless of the size of the delay and good performance including force feedback. We first introduce the four channel based multilateral control scheme to realize multilateral teleoperation and show using small gain theorem that as in traditional four channel bilateral control, the multilateral control scheme will be unstable. As a solution we propose adding local damping injection to the robots, and again employing the small gain theorem, we show that with adequate local damping the system can be made delay independent L2 stable.We further confirm the validity of our method and analysis with experiment results.

Original languageEnglish
Title of host publicationProceedings - ICIT 2010
Subtitle of host publicationIEEE-ICIT 2010 International Conference on Industrial Technology
Pages88-93
Number of pages6
DOIs
Publication statusPublished - 2010 Jul 14
EventIEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010 - Vina del Mar, Chile
Duration: 2010 Mar 142010 Mar 17

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

OtherIEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010
CountryChile
CityVina del Mar
Period10/3/1410/3/17

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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    Tumerdem, U., & Ohnishi, K. (2010). Delay independent L2 stable multilateral teleoperation with damping injection. In Proceedings - ICIT 2010: IEEE-ICIT 2010 International Conference on Industrial Technology (pp. 88-93). [5472658] (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2010.5472658