Adaptive control for bilateral teleoperators under time-varying communication delays

Yen Chen Liu, Seng Ming Puah

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

In this paper, the problem of controlling bilateral teleoperation systems in the presence of time-varying communication delays and dynamic uncertainties is studied. By exchanging only position signals between the master and slave robots, an adaptive controller is proposed to ensure stability if the control gains are contingent to the communication delays. Without exact knowledge of the time-varying delays, the developed control algorithm is able to ensure tracking errors between the master and slave robots to the origin in free motion. Moreover, the closed-loop control system with passive external forces from the human operator and remote environment is also studied. The proposed teleoperation system and control algorithm are validated using numerical simulations on 2-DOF robotic manipulators for both the master and slave robots.

Original languageEnglish
Title of host publication2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013 - Conference Proceedings
Pages32-37
Number of pages6
DOIs
Publication statusPublished - 2013 Sep 9
Event2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013 - Tainan, Taiwan
Duration: 2013 May 32013 Jun 2

Publication series

Name2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013 - Conference Proceedings

Other

Other2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013
CountryTaiwan
CityTainan
Period13-05-0313-06-02

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering

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