scholarly journals Bilateral Teleoperation Performance Model for Network Resource Management

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 29106-29117
Author(s):  
Konstantinos Antonakoglou ◽  
Maliheh Mahlouji ◽  
Toktam Mahmoodi
Keyword(s):  
Resource Management ◽  
Performance Model ◽  
Bilateral Teleoperation ◽  
Network Resource ◽  
Network Resource Management

scholarly journals Adaptive Neural Network Fixed-Time Control Design for Bilateral Teleoperation With Time Delay

2021 ◽  
pp. 1-14
Author(s):  
Shuang Zhang ◽  
Shuo Yuan ◽  
Xinbo Yu ◽  
Linghuan Kong ◽  
Qing Li ◽  
...  
Keyword(s):  
Neural Network ◽  
Time Delay ◽  
Control Design ◽  
Fixed Time ◽  
Bilateral Teleoperation ◽  
Adaptive Neural Network ◽  
Time Control

Internet-Based Bilateral Teleoperation Based on Wave Variable With Adaptive Predictor and Direct Drift Control

2005 ◽  
Vol 128 (1) ◽  
pp. 86-93 ◽  
Author(s):  
Ho Ching ◽  
Wayne J. Book
Keyword(s):  
Force Feedback ◽  
Transmission Delay ◽  
Recursive Least Squares ◽  
Bilateral Teleoperation ◽  
Practical Applications ◽  
Wave Variable ◽  
Environmental Force ◽  
Rigid Contact ◽  
The Cost ◽  
Drift Control

In a conventional bilateral teleoperation, transmission delay over the Internet can potentially cause instability. A wave variable algorithm guarantees teleoperation stability under varying transmission delay at the cost of poor transient performance. Adding a predictor on the master side can reduce this undesirable side effect, but that would require a slave model. An inaccurate slave model used in the predictor as well as variations in transmission delay, both of which are likely under realistic situations, can result in steady-state errors. A direct drift control algorithm is used to drive this error to zero, regardless of the source of the error. A semi-adaptive predictor that can distinguish between free space and a rigid contact environment is used to provide a more accurate force feedback on the master side. A full adaptive predictor is also used that estimates the environmental force using recursive least squares with a forgetting factor. This research presents the experimental results and evaluations of the previously mentioned wave-variable-based methods under a realistic operation environment using a real master and slave. The algorithm proposed is innovative in that it takes advantage of the strengths of several control methods to build a promising bilateral teleoperation setup that can function under varying transmission delay, modeling error, and changing environment. Success could lead to practical applications in various fields, such as space-based remote control, and telesurgery.

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