TY - GEN
T1 - Control of bilateral teleoperation systems using single controller over delayed communication network
AU - Khong, Mun Hooi
AU - Liu, Yen Chen
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/11/4
Y1 - 2015/11/4
N2 - The control problem for bilateral teleoperation systems using only one controller is studied in this paper. In the proposed control framework, the remote robot transmits position/velocity signals to the controller located with the local robot. The corresponding control inputs for local and remote robots are obtained from the same controller. The individual control signal is sent to the local robot directly, and transmitted to the remote robot over a network subject to communication delays. Two control algorithms, P-like and PD-like controllers, are considered in the novel bilateral teleoperation system framework. Stability and tracking performance can be guaranteed if control gains are contingent to time delays when the external force are passive or both robots are in free motion. Numerical examples are presented to validate the performance of the proposed bilateral teleoperation control systems.
AB - The control problem for bilateral teleoperation systems using only one controller is studied in this paper. In the proposed control framework, the remote robot transmits position/velocity signals to the controller located with the local robot. The corresponding control inputs for local and remote robots are obtained from the same controller. The individual control signal is sent to the local robot directly, and transmitted to the remote robot over a network subject to communication delays. Two control algorithms, P-like and PD-like controllers, are considered in the novel bilateral teleoperation system framework. Stability and tracking performance can be guaranteed if control gains are contingent to time delays when the external force are passive or both robots are in free motion. Numerical examples are presented to validate the performance of the proposed bilateral teleoperation control systems.
UR - http://www.scopus.com/inward/record.url?scp=84964388537&partnerID=8YFLogxK
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U2 - 10.1109/CCA.2015.7320680
DO - 10.1109/CCA.2015.7320680
M3 - Conference contribution
AN - SCOPUS:84964388537
T3 - 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings
SP - 507
EP - 512
BT - 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE Conference on Control and Applications, CCA 2015
Y2 - 21 September 2015 through 23 September 2015
ER -