NDLI: Stability and tracking properties in predictive control with adaptation for bilateral teleoperation

Content Provider	IEEE Xplore Digital Library
Author	Yoshida, K. Namerikawa, T.
Copyright Year	2009
Description	Author affiliation: Division of Electrical Engineering and Computer Engineering, Graduate School of Natural Science and Technology, Kanazawa University, Kakuma-machi, 920-1192 JAPAN (Yoshida, K.; Namerikawa, T.)
Abstract	This paper deals with an environment estimation based predictive control for teleoperation with communication time delay. In this predictive control framework, the delayed position tracking and non-delayed force reflection are attempted. The goal of this paper is to propose a new control method which guarantees the stability, the convergence of position tracking error to zero and the small force tracking error theoretically. Proposed control structure is the 3ch architecture with environment estimation based force prediction. In this proposed method, the master controller implements force control with environmental force prediction while the slave controller implements position and force control. The theoretical analysis shows the stability, the convergence of position error to zero and the small force tracking error. Experimental results show the effectiveness of the proposed method.
Starting Page	1323
Ending Page	1328
File Size	1236179
Page Count	6
File Format	PDF
ISBN	9781424445233
ISSN	07431619
DOI	10.1109/ACC.2009.5160049
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Stability Predictive control Force control Communication system control Convergence Error correction Delay estimation Delay effects Reflection Master-slave
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Stability and tracking properties in predictive control with adaptation for bilateral teleoperation.

Bilateral teleoperation under time-varying communication delay

Bilateral control of nonlinear teleoperation with time varying communication delays

Force reflection algorithm for improved transparency in bilateral teleoperation with communication delay

Position-Error Based Schemes for Bilateral Teleoperation with Time Delay: Theory and Experiments

Improved transparency in bilateral teleoperation with variable time delay

Transparent implementation of bilateral teleoperation controllers under rate mode

A Force-Reflection Algorithm for Improved Transparency in Bilateral Teleoperation With Communication Delay

Transparent bilateral control for time-delayed teleoperation by state convergence

Stability and tracking properties in predictive control with adaptation for bilateral teleoperation

Similar Documents

Stability and tracking properties in predictive control with adaptation for bilateral teleoperation.

Bilateral teleoperation under time-varying communication delay

Bilateral control of nonlinear teleoperation with time varying communication delays

Force reflection algorithm for improved transparency in bilateral teleoperation with communication delay

Position-Error Based Schemes for Bilateral Teleoperation with Time Delay: Theory and Experiments

Improved transparency in bilateral teleoperation with variable time delay

Transparent implementation of bilateral teleoperation controllers under rate mode

A Force-Reflection Algorithm for Improved Transparency in Bilateral Teleoperation With Communication Delay

Transparent bilateral control for time-delayed teleoperation by state convergence

Stability and tracking properties in predictive control with adaptation for bilateral teleoperation