Bilateral Teleoperation With Time-Varying Delay: A Communication Channel Passification Approach

被引：64

作者：

Ye, Yongqiang ^{[1
]}

Pan, Ya-Jun ^{[2
]}

Hilliard, Trent ^{[2
]}

机构：

[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Peoples R China

[2] Dalhousie Univ, Dept Mech Engn, Halifax, NS B3H 4R2, Canada

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2013年 / 18卷 / 04期

基金：

加拿大自然科学与工程研究理事会; 中国国家自然科学基金; 加拿大创新基金会;

关键词：

Bilateral communication; teleoperation; time-domain passivity control (TDPC); DOMAIN PASSIVITY CONTROL; HAPTIC INTERFACES;

D O I：

10.1109/TMECH.2013.2255882

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, the activeness of bilateral communication with time-varying delay is analyzed. Based on the power-based time-domain passivity control previously proposed, a time-domain passivity control approach is derived for bilateral communication. Teleoperation experimental results verify the effectiveness.

引用

页码：1431 / 1434

页数：4

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