A new predictive approach for bilateral teleoperation with applications to drive-by-wire systems

被引：69
作者：
Pan, Ya-Jun [1 ]
Canudas-de-Wit, Carlos
Sename, Olivier
机构：
[1] Dalhousie Univ, Dept Mech Engn, Halifax, NS B3J 2X4, Canada
[2] Inst Natl Polytech Grenoble, ENSIEG, CNRS, UMR 5528,Lab Automat Grenoble, F-38402 St Martin Dheres, France
来源：
IEEE TRANSACTIONS ON ROBOTICS | 2006年 / 22卷 / 06期
关键词：
bilateral teleoperation systems; delayed systems; network-controlled systems; predictive approach; time-varying delays;
D O I：
10.1109/TRO.2006.886279
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, a new predictive approach is proposed for the impedance control of bilateral drive-by-wire teleoperation systems. The proposed control structure includes two mirror predictors/observers in both the master and slave sides. These predictors/observers are used to simultaneously estimate the master and slave internal dynamics, and thereby to avoid the use of the delayed transmitted information. As a consequence, the influence of the delay on the whole system can be minimized and the performance can be improved. Under a set of suited hypotheses, the proposed control structure is shown to be uniformly ultimate stable, even in the presence of time-varying delays. Simulation results are presented to show the effectiveness of the proposed approach. The behavior of the control structure is also experimentally demonstrated while performing remote steering of a small autonomous vehicle.
引用
收藏
页码：1146 / 1162
页数：17
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