Bilateral control with constant feedback gains for teleoperation with time varying delay

研究成果: Conference contribution

21 被引用数 (Scopus)

抄録

This paper describes a bilateral control of nonlinear teleoperation with time varying communication delay. The proposed method are simple PD-type controllers which are independent of the rate of time delay change and depend on the upper bound of round-trip delay. The proposed control strategy is independent of parameter uncertainties of the model of the robots and the operator and remote environment. The delay-dependent stability of the origin is shown via Lyapunov stability theorem. Furthermore the proposed strategy also achieves master-slave position coordination and bilateral static force reflection. Several experimental results with wireless communication and the Internet show the effectiveness of our proposed strategy.

本文言語English
ホスト出版物のタイトルProceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
出版社Institute of Electrical and Electronics Engineers Inc.
ページ7527-7532
ページ数6
ISBN(印刷版)9781424438716
DOI
出版ステータスPublished - 2009
イベント48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China
継続期間: 2009 12月 152009 12月 18

出版物シリーズ

名前Proceedings of the IEEE Conference on Decision and Control
ISSN(印刷版)0743-1546
ISSN(電子版)2576-2370

Other

Other48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
国/地域China
CityShanghai
Period09/12/1509/12/18

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • 制御と最適化

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