Paper Info
Title
A Multi-Model Decentralized Controller For Teleoperation With Time Delay
Abstract
Robust stability constraints can largely limit the performance of bilateral teleoperation systems in the presence of communication time delay. In this paper, a stable decentralized model-based controller is proposed that can enhance the teleoperation transparency in the presence of constant delay. New state/observation transformations produce partially delay-free dynamics/measurement vectors. Using the transformed states/observastions, two local Linear Quadratic Gaussian (LQG) controllers are implemented at the master and slave stations. The closed-loop stability is analyzed employing the delay-dependent frequency sweeping test. Using the LQG controllers and a simple control switching strategy, a multi-model teleoperation controller is developed that can achieve delay-free position tracking and tool impedance shaping for free motion/soft contact, as well as position and force tracking for contact with rigid environments. Experimental results demonstrate the effectiveness of the proposed approach.
Year
DOI
Venue
2007
10.1109/IROS.2007.4399463
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9
Keywords
Field
DocType
linear quadratic gaussian control,telerobotics,linear quadratic gaussian,robust control,state observer
Teleoperation,Control theory,Linear-quadratic-Gaussian control,Control theory,Computer science,Linear quadratic gaussian controller,Control engineering,Electrical impedance,Robust control,Telerobotics,Stability constraints
Conference
Citations 
PageRank 
References 
0
0.34
9
Authors
2
Name
Order
Citations
PageRank
Ali Shahdi1354.20
Shahin Sirouspour222921.84