Predictive PD control for teleoperation with communication time delay

Kouei Yoshida, Toru Namerikawa

研究成果: Conference contribution

8 被引用数 (Scopus)

抄録

This paper deals with a problem of predictive control for nonlinear multi-DOF teleoperation with time varying delay, parametric uncertainties of the robot model and uncertainties of remote environment. The proposed method is combination of the PD control based on the predictors and the adaptive impedance control. Since the predictors are used to simultaneously estimate the master and slave dynamics, the use of the delayed information is avoided. Thus, the performance degradation due to communication time delay can be alleviated. The adaptive impedance control is used to linearize the robot with parametric uncertainties. Proposed predictive PD control method does not require the environmental dynamic model and can achieve the position coordination and the static force reflection in certain conditions. The stability and position coordination are guaranteed by using the Lyapunov theorem. Experimental results show the effectiveness of proposed teleoperation.

本文言語English
ホスト出版物のタイトルProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
1 PART 1
DOI
出版ステータスPublished - 2008 12 1
外部発表はい
イベント17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
継続期間: 2008 7 62008 7 11

出版物シリーズ

名前IFAC Proceedings Volumes (IFAC-PapersOnline)
番号1 PART 1
17
ISSN(印刷版)1474-6670

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period08/7/608/7/11

ASJC Scopus subject areas

  • Control and Systems Engineering

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