TY - GEN
T1 - Adaptive control for bilateral teleoperators under time-varying communication delays
AU - Liu, Yen Chen
AU - Puah, Seng Ming
PY - 2013/9/9
Y1 - 2013/9/9
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84883368598&partnerID=8YFLogxK
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U2 - 10.1109/ARIS.2013.6573530
DO - 10.1109/ARIS.2013.6573530
M3 - Conference contribution
AN - SCOPUS:84883368598
SN - 9781479900985
T3 - 2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013 - Conference Proceedings
SP - 32
EP - 37
BT - 2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013 - Conference Proceedings
T2 - 2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013
Y2 - 3 May 2013 through 2 June 2013
ER -