Gain-scheduled compensation for time delay of bilateral teleoperation systems

2002 ◽  
Author(s):  
A. Sano ◽  
H. Fujimoto ◽  
M. Tanaka
Keyword(s):  
Time Delay ◽  
Bilateral Teleoperation ◽  
Teleoperation Systems ◽  
Gain Scheduled

A Simple Structure for Bilateral Transparent Teleoperation Systems With Time Delay

2008 ◽  
Vol 130 (4) ◽  
Author(s):  
Alireza Alfi ◽  
Mohammad Farrokhi
Keyword(s):  
Time Delay ◽  
Closed Loop ◽  
Simple Structure ◽  
Finite Impulse Response ◽  
Structure Design ◽  
Loop System ◽  
Bilateral Teleoperation ◽  
Closed Loop System ◽  
The Stability ◽  
Teleoperation Systems

This paper presents a simple structure design for bilateral teleoperation systems with uncertainties in time delay in communication channel. The goal is to achieve complete transparency and robust stability for the closed-loop system. For transparency, two local controllers are designed for the bilateral teleoperation systems. One local controller is responsible for tracking the master commands, and the other one is in charge of force tracking as well as guaranteeing the stability of the closed-loop system in the presence of uncertainties in time delay. The stability analysis will be shown analytically for two cases: (I) the possibly stability and (II) the intrinsically stability. Moreover, in Case II, in order to generate the proper inputs for the master controller in the presence of uncertainties in time delay, an adaptive finite impulse response (FIR) filter is designed to estimate the time delay. The advantages of the proposed method are threefold: (1) stability of the closed-loop system is guaranteed under some mild conditions, (2) the whole system is transparent, and (3) design of the local controllers is simple. Simulation results show good performance of the proposed method.

Time-Delay Compensation by Communication Disturbance Observers of Different Orders in Bilateral Teleoperation Systems

2009 ◽  
Vol 129 (4) ◽  
pp. 353-362 ◽  
Author(s):  
Kenji Natori ◽  
Ryogo Kubo ◽  
Tomoyuki Shimono ◽  
Kouhei Ohnishi ◽  
Kanako Miura ◽  
...  
Keyword(s):  
Time Delay ◽  
Bilateral Teleoperation ◽  
Delay Compensation ◽  
Time Delay Compensation ◽  
Teleoperation Systems
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