Bilateral control of nonlinear teleoperation with time varying communication delays

Hisanosuke Kawada, Toru Namerikawa

研究成果: Conference contribution

29 被引用数 (Scopus)

抄録

This paper addresses the bilateral control of nonlinear teleoperation with time varying communication delays. The proposed methods are two types of simple PD-type controllers which consists of D-controls depending on (the upper bound of) the rate of change of delay and P-controls depending on the upper bound of round-trip delay. Using Lyapunov-Krasovskii function, the delay-dependent stability of the origin is shown for the ranges of gains. Furthermore the proposed strategies also achieve master-slave position coordination and bilateral static force reflection. Several experimental results show the effectiveness of our proposed methods.

本文言語English
ホスト出版物のタイトル2008 American Control Conference, ACC
ページ189-194
ページ数6
DOI
出版ステータスPublished - 2008 9 30
外部発表はい
イベント2008 American Control Conference, ACC - Seattle, WA, United States
継続期間: 2008 6 112008 6 13

出版物シリーズ

名前Proceedings of the American Control Conference
ISSN(印刷版)0743-1619

Other

Other2008 American Control Conference, ACC
国/地域United States
CitySeattle, WA
Period08/6/1108/6/13

ASJC Scopus subject areas

  • 電子工学および電気工学

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