Adaptive control for bilateral teleoperators under time-varying communication delays

Yen Chen Liu, Seng Ming Puah

研究成果: Conference contribution

5 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013 - Conference Proceedings
頁面32-37
頁數6
DOIs
出版狀態Published - 2013 九月 9
事件2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013 - Tainan, Taiwan
持續時間: 2013 五月 32013 六月 2

出版系列

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

Other

Other2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013
國家Taiwan
城市Tainan
期間13-05-0313-06-02

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering

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