Task-oriented teleoperation systems for groups of mobile robots with time-varying communication delays

2015 ◽  
Author(s):  
Chao-Wei Lin ◽  
Yen-Chen Liu
Keyword(s):  
Mobile Robots ◽  
Time Varying ◽  
Communication Delays ◽  
Teleoperation Systems ◽  
Task Oriented

Delay Compensation for Teleoperation Systems Based on Communication Disturbance Observers

2016 ◽  
Vol 20 (7) ◽  
pp. 1044-1050
Author(s):  
Wen-An Zhang ◽  
◽  
Junkai Jin ◽  
Xiang Qiu ◽  
Li Yu
Keyword(s):  
Control Problem ◽  
Disturbance Rejection ◽  
Disturbance Observer ◽  
Controller Design ◽  
Design Method ◽  
Smith Predictor ◽  
Time Varying ◽  
Communication Delays ◽  
Delay Compensation ◽  
Teleoperation Systems

This paper investigates the control problem for a class of teleoperation systems with communication delays. The network-induced delays are usually inevitable in teleoperation systems, and may be time varying and unpredictable. Since the conventional Smith predictor is only useful for fixed delays, a novel delay compensation and controller design method is proposed in this paper. The proposed method combines a disturbance rejection controller and a communication disturbance observer (CDOB). Simulations are provided to show the effectiveness and superiority of the proposed delay compensation and controller design method.

Position and force tracking in nonlinear teleoperation systems under varying delays

Robotica ◽  
2014 ◽  
Vol 33 (4) ◽  
pp. 1003-1016 ◽  
Author(s):  
Farzad Hashemzadeh ◽  
Mahdi Tavakoli
Keyword(s):  
Nonlinear Dynamics ◽  
Communication Channel ◽  
Degree Of Freedom ◽  
Tracking Performance ◽  
Time Varying ◽  
Communication Delays ◽  
Teleoperation System ◽  
Control Scheme ◽  
Force Tracking ◽  
Teleoperation Systems

SUMMARYIn this paper, a novel control scheme is proposed to guarantee position and force tracking in nonlinear teleoperation systems subject to varying communication delays. Stability and tracking performance of the teleoperation system are proved using a proposed Lyapunov–Krasovskii functional. To show its effectiveness, the teleoperation controller is simulated on a pair of planar 2-DOF (degree of freedom) robots and experimented on a pair of 3-DOF PHANToM Premium 1.5A robots connected via a communication channel with time-varying delays. Both the planar robots in simulations and the PHANToM robots in experiments possess nonlinear dynamics.

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