Stability and tracking properties in predictive control with adaptation for bilateral teleoperation

Kouei Yoshida, Toru Namerikawa

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

6 Citations (Scopus)

Abstract

This paper deals with an environment estimation based predictive control for teleoperation with communication time delay. In this predictive control framework, the delayed position tracking and non-delayed force reflection are attempted. The goal of this paper is to propose a new control method which guarantees the stability, the convergence of position tracking error to zero and the small force tracking error theoretically. Proposed control structure is the 3ch architecture with environment estimation based force prediction. In this proposed method, the master controller implements force control with environmental force prediction while the slave controller implements position and force control. The theoretical analysis shows the stability, the convergence of position error to zero and the small force tracking error. Experimental results show the effectiveness of the proposed method.

Original languageEnglish
Title of host publication2009 American Control Conference, ACC 2009
Pages1323-1328
Number of pages6
DOIs
Publication statusPublished - 2009 Nov 23
Event2009 American Control Conference, ACC 2009 - St. Louis, MO, United States
Duration: 2009 Jun 102009 Jun 12

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2009 American Control Conference, ACC 2009
CountryUnited States
CitySt. Louis, MO
Period09/6/1009/6/12

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Yoshida, K., & Namerikawa, T. (2009). Stability and tracking properties in predictive control with adaptation for bilateral teleoperation. In 2009 American Control Conference, ACC 2009 (pp. 1323-1328). [5160049] (Proceedings of the American Control Conference). https://doi.org/10.1109/ACC.2009.5160049