NDLI: A robust control architecture for dual user teleoperation system with time-delay

Content Provider	IEEE Xplore Digital Library
Author	Shahbazi, M. Talebi, H.A. Towhidkhah, F.
Copyright Year	2010
Description	Author affiliation: Electrical Engineering Department, Amirkabir University of Technology (Shahbazi, M.; Talebi, H.A.) \|\| Biomedical Engineering Faculty, Amirkabir University of Technology (Towhidkhah, F.)
Abstract	Dual-user teleoperation systems consisting of two master robots and one slave robot can be employed in order to facilitate the collaboration of two operators in a cooperative operation. Although, the stability as well as the performance of such systems suffers from undesired effects of latency, the significant issue of communication delay has been disregarded in the previous reported studies upon dual-user systems. Therefore, in this paper a robust controller based on µ-synthesis for dual-user systems is presented which overcomes the undesired effect of constant communication delay in the dual-user systems. The latency has been considered between the masters' side and the slave side. In addition to the ability of the controller to cope with latency, it can manipulate the system in a wide range of uncertainty on the dynamics of operators' hand. The validity of the proposed controller scheme is demonstrated on a delayed dual-user system via simulation.
Starting Page	1419
Ending Page	1423
File Size	538921
Page Count	5
File Format	PDF
ISBN	9781424452255
ISSN	1553572X
DOI	10.1109/IECON.2010.5675476
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-11-07
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Robustness Uncertainty Impedance Delay Control systems Stability analysis µ synthesis Dual-user systems Teleoperation Time delay Robust control Multi-master systems
Content Type	Text
Resource Type	Article

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

A control architecture for dual user teleoperation with unknown time delays: A sliding mode approach

A robust multilateral shared controller for dual-user teleoperation systems

Unconditional stability analysis of dual-user teleoperation systems

A novel shared structure for dual user systems with unknown time-delay utilizing adaptive impedance control

$H_{α}$ control of a Teleoperation Drive-by-Wire System with Communication Time-Delay

A stabilizing control technique for bilateral teleoperation system with time delay

Robust Impedance Control of a Teleoperation System With Friction Compensation Under Time Delay

Impedance control of non-linear multi-DOF teleoperation systems with time delay: absolute stability

Adaptive/robust control for enhanced teleoperation under communication time delay

A robust control architecture for dual user teleoperation system with time-delay

Similar Documents

A control architecture for dual user teleoperation with unknown time delays: A sliding mode approach

A robust multilateral shared controller for dual-user teleoperation systems

Unconditional stability analysis of dual-user teleoperation systems

A novel shared structure for dual user systems with unknown time-delay utilizing adaptive impedance control

$H_{α}$ control of a Teleoperation Drive-by-Wire System with Communication Time-Delay

A stabilizing control technique for bilateral teleoperation system with time delay

Robust Impedance Control of a Teleoperation System With Friction Compensation Under Time Delay

Impedance control of non-linear multi-DOF teleoperation systems with time delay: absolute stability

Adaptive/robust control for enhanced teleoperation under communication time delay

A robust control architecture for dual user teleoperation system with time-delay