A novel adaptive robust control architecture for bilateral teleoperation systems under time-varying delays

2014 ◽  
Vol 25 (17) ◽  
pp. 3349-3366 ◽  
Author(s):  
Zheng Chen ◽  
Ya-Jun Pan ◽  
Jason Gu
Keyword(s):  
Robust Control ◽  
Adaptive Robust Control ◽  
Control Architecture ◽  
Time Varying ◽  
Bilateral Teleoperation ◽  
Teleoperation Systems

Design of a New Impedance Controller for a Time Delay Teleoperation System

2013 ◽  
Vol 392 ◽  
pp. 355-360
Author(s):  
Young Won Chang ◽  
Olga Kostiyukova ◽  
Kil To Chong
Keyword(s):  
Time Delays ◽  
Position Control ◽  
Control Architecture ◽  
Time Varying ◽  
Bilateral Teleoperation ◽  
Bilateral Control ◽  
Single Degree Of Freedom ◽  
Teleoperation System ◽  
The Stability ◽  
Teleoperation Systems

Bilateral teleoperation systems connected to computer networks such as the internet have to deal with varying time delays depending on several factors such as congestion, bandwidth, or distance. Such systems can easily become unstable due to irregular or varying time delays. A passivity concept has been used as the framework to solve the stability problem in bilateral control of teleoperation systems and we demonstrate in this paper how to recover both passivity and tracking performance using a novel control architecture that incorporates time varying gains into the transmission path, feedforward, and feedback position control. Simulation results for a single-degree of freedom master/ slave system are presented which demonstrates the performance of the resulting control architecture.

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