Predictive PD control for teleoperation with communication time delay

Kouei Yoshida, Toru Namerikawa

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

7 Citations (Scopus)

Abstract

This paper deals with a problem of predictive control for nonlinear multi-DOF teleoperation with time varying delay, parametric uncertainties of the robot model and uncertainties of remote environment. The proposed method is combination of the PD control based on the predictors and the adaptive impedance control. Since the predictors are used to simultaneously estimate the master and slave dynamics, the use of the delayed information is avoided. Thus, the performance degradation due to communication time delay can be alleviated. The adaptive impedance control is used to linearize the robot with parametric uncertainties. Proposed predictive PD control method does not require the environmental dynamic model and can achieve the position coordination and the static force reflection in certain conditions. The stability and position coordination are guaranteed by using the Lyapunov theorem. Experimental results show the effectiveness of proposed teleoperation.

Original languageEnglish
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition1 PART 1
DOIs
Publication statusPublished - 2008 Dec 1
Externally publishedYes
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: 2008 Jul 62008 Jul 11

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume17
ISSN (Print)1474-6670

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period08/7/608/7/11

Keywords

  • Networked robotic system modelling and control
  • Robots manipulators
  • Telerobotics

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Yoshida, K., & Namerikawa, T. (2008). Predictive PD control for teleoperation with communication time delay. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC (1 PART 1 ed.). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1). https://doi.org/10.3182/20080706-5-KR-1001.2743