Passivity and RISE based robust control for bilateral teleoperation system with communication delay

Yasunori Kawai, Toru Namerikawa

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

1 Citation (Scopus)

Abstract

In this paper, a method for passivity- and robust integral of the sign of the error (RISE)-based control of a nonlinear teleoperation system with communication delays is proposed. This control strategy can accurately achieve coordinate positioning under conditions with viscous friction and unmodeled effects compensation errors, and its stability condition is independent of robot model parameter uncertainties and time delay. Using passivity-based stability analysis, the stability and tracking performance of this system are demonstrated, and experimental trials are performed to verify its effectiveness.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Control Applications, CCA 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages270-275
Number of pages6
ISBN (Print)9781479915590
DOIs
Publication statusPublished - 2013 Jan 1
Event2013 IEEE International Conference on Control Applications, CCA 2013 - Hyderabad, India
Duration: 2013 Aug 282013 Aug 30

Publication series

NameProceedings of the IEEE International Conference on Control Applications

Other

Other2013 IEEE International Conference on Control Applications, CCA 2013
CountryIndia
CityHyderabad
Period13/8/2813/8/30

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

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  • Cite this

    Kawai, Y., & Namerikawa, T. (2013). Passivity and RISE based robust control for bilateral teleoperation system with communication delay. In 2013 IEEE International Conference on Control Applications, CCA 2013 (pp. 270-275). [6662770] (Proceedings of the IEEE International Conference on Control Applications). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCA.2013.6662770