scholarly journals Chattering-free Fixed-Time Control for Bilateral Teleoperation System with Jittering Time Delays and State Constraints

2018 ◽  
Vol 51 (32) ◽  
pp. 588-593 ◽  
Author(s):  
Ziwei Wang ◽  
Bin Liang ◽  
Xueqian Wang
Keyword(s):  
Time Delays ◽  
State Constraints ◽  
Fixed Time ◽  
Bilateral Teleoperation ◽  
Time Control ◽  
Teleoperation System ◽  
Chattering Free

scholarly journals Extending model-mediation method to multi-degree-of-freedom teleoperation systems experiencing time delays in communication

Robotica ◽  
2015 ◽  
Vol 35 (5) ◽  
pp. 1121-1136 ◽  
Author(s):  
Emre Uzunoğlu ◽  
Mehmet İsmet Can Dede
Keyword(s):  
Time Delays ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Test Results ◽  
Bilateral Teleoperation ◽  
Extended Version ◽  
Teleoperation System ◽  
Teleoperation Systems ◽  
Three Degrees Of Freedom

SUMMARYIn this study, a bilateral teleoperation control algorithm is developed in which the model-mediation method is integrated with an impedance controller. The model-mediation method is also extended to three-degrees-of-freedom teleoperation. The aim of this controller is to compensate for instability issues and excessive forcing applied to the slave environment stemming from time delays in communication. The proposed control method is experimentally tested with two haptic desktop devices. Test results indicate that stability and passivity of the bilateral teleoperation system is preserved under variable time delays in communication. It is also observed that safer interactions of the slave system with its environment can be achieved by utilizing an extended version of the model-mediation method with an impedance controller.

scholarly journals Stabilization of Teleoperation Systems with Communication Delays: An IMC Approach

2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Yuling Li
Keyword(s):  
Time Delays ◽  
Closed Loop ◽  
Internal Model Control ◽  
Bilateral Teleoperation ◽  
Closed Loop System ◽  
Teleoperation System ◽  
Model Control ◽  
The Stability ◽  
External Forces ◽  
Teleoperation Systems

The presence of time delays in communication introduces a limitation to the stability of bilateral teleoperation systems. This paper considers internal model control (IMC) design of linear teleoperation system with time delays, and the stability of the closed-loop system is analyzed. It is shown that the stability is guaranteed delay-independently. The passivity assumption for external forces is removed for the proposed design of teleoperation systems. The behavior of the resulting teleoperation system is illustrated by simulations.

Adaptive finite-time control for bilateral teleoperation systems with jittering time delays

2018 ◽  
Vol 29 (4) ◽  
pp. 1007-1030 ◽  
Author(s):  
Ziwei Wang ◽  
Zhang Chen ◽  
Yiman Zhang ◽  
Xingyao Yu ◽  
Xiang Wang ◽  
...  
Keyword(s):  
Finite Time ◽  
Time Delays ◽  
Bilateral Teleoperation ◽  
Time Control ◽  
Teleoperation Systems
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