Stability and tracking properties in predictive control with adaptation for bilateral teleoperation

Kouei Yoshida, Toru Namerikawa

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

This paper deals with an environment estimation based predictive control for teleoperation with communication time delay. In this predictive control framework, the delayed position tracking and non-delayed force reflection are attempted. The goal of this paper is to propose a new control method which guarantees the stability, the convergence of position tracking error to zero and the small force tracking error theoretically. Proposed control structure is the 3ch architecture with environment estimation based force prediction. In this proposed method, the master controller implements force control with environmental force prediction while the slave controller implements position and force control. The theoretical analysis shows the stability, the convergence of position error to zero and the small force tracking error. Experimental results show the effectiveness of the proposed method.

本文言語English
ホスト出版物のタイトル2009 American Control Conference, ACC 2009
ページ1323-1328
ページ数6
DOI
出版ステータスPublished - 2009
外部発表はい
イベント2009 American Control Conference, ACC 2009 - St. Louis, MO, United States
継続期間: 2009 6 102009 6 12

出版物シリーズ

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

Other

Other2009 American Control Conference, ACC 2009
国/地域United States
CitySt. Louis, MO
Period09/6/1009/6/12

ASJC Scopus subject areas

  • 電子工学および電気工学

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