Passivity-based synchronized control of teleoperation with power scaling

Hisanosuke Kawada, Toru Namerikawa

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


This paper deals with the passivity-based synchronized control of teleoperation considering position tracking arid power scaling. In the proposed method, the motion arid the force relation between the master and slave robots can be specified freely. Using a passivity of the systems and Lyapunov stability methods, the asymptotic stability of teleoperation with communication delay and power scaling is proven. Several experimental results show the effectiveness of our proposed method.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages6
Publication statusPublished - 2006 Dec 1
Externally publishedYes
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
CountryKorea, Republic of


  • Asymptotically stable
  • Passivity-based synchronized control
  • Power scaling
  • Teleoperation

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Kawada, H., & Namerikawa, T. (2006). Passivity-based synchronized control of teleoperation with power scaling. In 2006 SICE-ICASE International Joint Conference (pp. 1838-1843). [4108982] (2006 SICE-ICASE International Joint Conference).