Control of bilateral teleoperation systems using single controller over delayed communication network

Mun Hooi Khong, Yen-Chen Liu

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings
發行者Institute of Electrical and Electronics Engineers Inc.
頁面507-512
頁數6
ISBN(電子)9781479977871
DOIs
出版狀態Published - 2015 十一月 4
事件IEEE Conference on Control and Applications, CCA 2015 - Sydney, Australia
持續時間: 2015 九月 212015 九月 23

出版系列

名字2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings

Other

OtherIEEE Conference on Control and Applications, CCA 2015
國家/地區Australia
城市Sydney
期間15-09-2115-09-23

All Science Journal Classification (ASJC) codes

  • 控制與系統工程

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