NDLI: Control Scheme for Stable Bilateral Teleoperation with Time Delay

Content Provider	IEEE Xplore Digital Library
Author	Keerio, M.U. Lei Zhang Yuepin Lu Jafri, A.R. Jiapeng Yang
Copyright Year	2006
Description	Author affiliation: Dept. of Mechatron. Eng., Beijing Inst. of Technol., Beijing (Keerio, M.U.; Lei Zhang; Yuepin Lu; Jafri, A.R.; Jiapeng Yang)
Abstract	In teleoperation system, the tracking ability is reduced due to the existence of time delay in communication channel, as communication delay can degrade the performance and destabilize the system. In this paper, a particular control scheme, the quasi-linear minimal order feedback controller have been proposed to control bilateral teleoperation, which is subjected to communication time delay. The designed controller not only guarantees fast tracking properties, but also provides a smooth approximation of possibly discontinuous reference trajectory. The goal of our approach is to make both the master and slave manipulators stable and retaining passivity of communication channel, so that stability of overall telerobotic system with any communication delay can be ensured. The method stated in the paper is helpful in practical application in the design of bilateral teleoperation with communication delay. Simulation results show the validity of the proposed control scheme with one DOF master/slave system.
Starting Page	433
Ending Page	438
File Size	5815930
Page Count	6
File Format	PDF
ISBN	142440570X
DOI	10.1109/ROBIO.2006.340231
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-17
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Delay effects Communication system control Master-slave Communication channels Degradation Stability Trajectory Humans Tracking loops Filters quasi-linear feedback control Bilateral teleoperation time delay
Content Type	Text
Resource Type	Article

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