Delay independent L2 stable multilateral teleoperation with damping injection

Ugur Tumerdem; Kouhei Ohnishi

doi:10.1109/ICIT.2010.5472658

Delay independent L₂ stable multilateral teleoperation with damping injection

Ugur Tumerdem, Kouhei Ohnishi

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings - ICIT 2010
Subtitle of host publication	IEEE-ICIT 2010 International Conference on Industrial Technology
Pages	88-93
Number of pages	6
DOIs	https://doi.org/10.1109/ICIT.2010.5472658
Publication status	Published - 2010 Jul 14
Event	IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010 - Vina del Mar, Chile Duration: 2010 Mar 14 → 2010 Mar 17

Publication series

Name	Proceedings of the IEEE International Conference on Industrial Technology

Other

Other	IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010
Country/Territory	Chile
City	Vina del Mar
Period	10/3/14 → 10/3/17

ASJC Scopus subject areas

Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/ICIT.2010.5472658

Cite this

Delay independent L₂ stable multilateral teleoperation with damping injection. / Tumerdem, Ugur; Ohnishi, Kouhei.

Proceedings - ICIT 2010: IEEE-ICIT 2010 International Conference on Industrial Technology. 2010. p. 88-93 5472658 (Proceedings of the IEEE International Conference on Industrial Technology).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 5472658, Proceedings of the IEEE International Conference on Industrial Technology, pp. 88-93, IEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010, Vina del Mar, Chile, 10/3/14. https://doi.org/10.1109/ICIT.2010.5472658

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