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
ページ7527-7532
ページ数6
DOI
出版ステータスPublished - 2009 12 1
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 152009 12 18

出版物シリーズ

名前Proceedings of the IEEE Conference on Decision and Control
ISSN(印刷版)0191-2216

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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