Control schemes for passive teleoperation systems over wide area communication networks with time varying delay

被引：4
作者：
Islam S. [1 ,2 ,8 ]
Liu X.P. [3 ]
Saddik A.E. [1 ,4 ]
Seneviratne L. [5 ,6 ]
Dias J. [7 ,8 ]
机构：
[1] School of Information Technology and Engineering, University of Ottawa, Ottawa
[2] School of Engineering and Applied Sciences, Harvard University, Cambridge, MA
[3] Department of Systems and Computer Engineering, Carleton University, Ottawa
[4] Electrical Engineering, New York University, AD
[5] Division of Engineering, Kings College London, London
[6] Robotics and Mechanical Engineering, Khalifa University of Science and Technology, AD
[7] Institute of Systems and Robotics, University of Coimbra, Coimbra
[8] Robotics and Electrical and Computer Engineering, Khalifa University of Science and Technology, AD
来源：
International Journal of Automation and Computing | 2014年 / 11卷 / 1期
基金：
加拿大自然科学与工程研究理事会;
关键词：
Lyapunov-Krasovskii functional; passive systems; Teleoperation; telerobotics; time varying delay;
D O I：
10.1007/s11633-014-0771-z
中图分类号：
学科分类号：
摘要：
In this paper, the problem of time varying telecommunication delays in passive teleoperation systems is addressed. The design comprises delayed position, velocity and position-velocity signals with the local position and velocity signals of the master and slave manipulators. Nonlinear adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave manipulators. Lyapunov-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation systems. The stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote sites. Finally, evaluation results are presented to illustrate the effectiveness of the proposed design for real-time applications. © 2014 Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.
引用
收藏
页码：100 / 108
页数：8
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