Design of feedforward and feedback position control for passive bilateral teleoperation with delays

被引：18

作者：

Kostyukova, Olga ^{[1
]}

Vista, Felipe P. ^{[2
]}

Chong, Kil To ^{[2
]}

机构：

[1] Belarusian State Univ, Dept Appl Math & Comp Sci, Minsk, BELARUS

[2] Chonbuk Natl Univ, Elect Engn Dept, Jeonju, South Korea

来源：

ISA TRANSACTIONS | 2019年 / 85卷

基金：

新加坡国家研究基金会;

关键词：

Bilateral teleoperation; Passive control; Time delay; TIME-VARYING DELAY; ADAPTIVE CONTROLLER; STABILITY; TRACKING; SYSTEMS;

D O I：

10.1016/j.isatra.2018.10.006

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Bilateral teleoperation systems connected to computer networks such as the internet must be able to operate with varying time delays since such systems can easily become unstable. A passivity concept has been used as the framework to solve the stability problem in the bilateral control of teleoperation systems. Passivity and tracking performance are recovered using a control architecture that incorporates time varying gains into the transmission path, feedforward, and feedback position control. The proposed architecture has an inner component that can accommodate any configuration but still remain stable and passive even with varying time delay. The simulation results for a single degree of freedom master/slave system demonstrate the performance of the proposed control architecture. (C) 2018 Published by Elsevier Ltd on behalf of ISA.

引用

页码：200 / 213

页数：14

共 41 条

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