TY - GEN
T1 - A state predictor for bilateral teleoperation with communication time delay
AU - Yoshida, Kouei
AU - Namerikawa, Toru
AU - Sawodny, Oliver
PY - 2008
Y1 - 2008
N2 - In this paper, the new state predictors are proposed to improve the performance of the predictors in predictive controller for teleoperation with time delay. The proposed state predictors are designed based on solution trajectories of the dynamics. The prediction errors of the proposed predictors do not depend on past prediction errors. To achieve nondelayed synchronization, proposed predictors are incorporated to the predictive control structure. Using the Lyapunov stability method, the proposed control structure is shown to be stable even in the presence of time delay. Experimental results show the effectiveness of our proposed teleoperation.
AB - In this paper, the new state predictors are proposed to improve the performance of the predictors in predictive controller for teleoperation with time delay. The proposed state predictors are designed based on solution trajectories of the dynamics. The prediction errors of the proposed predictors do not depend on past prediction errors. To achieve nondelayed synchronization, proposed predictors are incorporated to the predictive control structure. Using the Lyapunov stability method, the proposed control structure is shown to be stable even in the presence of time delay. Experimental results show the effectiveness of our proposed teleoperation.
UR - http://www.scopus.com/inward/record.url?scp=62949095036&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=62949095036&partnerID=8YFLogxK
U2 - 10.1109/CDC.2008.4739019
DO - 10.1109/CDC.2008.4739019
M3 - Conference contribution
AN - SCOPUS:62949095036
SN - 9781424431243
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 4590
EP - 4595
BT - Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 47th IEEE Conference on Decision and Control, CDC 2008
Y2 - 9 December 2008 through 11 December 2008
ER -