Stabilization of teleoperated systems with stochastic time delays using time domain passivity control

被引：0
作者：
Iqbal, Asif [1 ]
Roth, Hubert [2 ]
机构：
[1] Univ Siegen, Ctr Sensor Syst, D-57068 Siegen, Germany
[2] Univ Siegen, Inst Automat Control Engn, D-57068 Siegen, Germany
来源：
2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 | 2006年
关键词：
time domain passivity control; stabilization; time varying delays; teleoperation;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This work describes the application of Time Domain Passivity Control to the stabilization of a one-degree-of-freedom teleoperation system in the presence of stochastic time delays. A non-finear Kalman filter based predictor provides recursive estimates of remote energy which, in conjunction with the master-side energy of a network 2-port, give real-time estimates of net energy across the given port. These estimates are used to design time-varying stabilizing passivity controllers. Beta distributed time delays are predicted using one-step ahead 1(st)-order predictor.
引用
收藏
页码：4131 / +
页数：3
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