Paper Info
Title
Discrete-Time Linear Quadratic Gaussian Control For Teleoperation Under Communication Time Delay
Abstract
Prior relevant research in bilateral teleoperation has mainly yielded control algorithms that sacrifice performance ill order to guarantee robust stability in the presence of communication latency. In contrast, in this paper we propose a multimodel predictive-type control approach based on the discrete-time linear quadratic Gaussian (LQG) control that delivers a stable transparent response ill the presence of constant delay. Separate controllers are designed for different phases of operation, i.e., free motion/soft contact and contact with rigid environments, with switching between these mode-based controllers occurring according to the identified contact mode. The treatment of the problem in the discrete-time domain allows for the development of a finite dimension state-space model that explicitly encompasses the time delay. Performance objectives such as position tracking and toot impedance shaping for free motion/soft contact, as well as position and force tracking for contact with rigid environments, are incorporated into the LQG control design framework.. The robustness of the controller with respect to uncertainty in the system parameters is examined via the Nyquist analysis. Simulation and experimental results demonstrate that the proposed control technique is highly effective in providing a stable transparent interface for teleoperation under time delay.
Year
DOI
Venue
2006
10.1177/0278364906061081
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Keywords
Field
DocType
teleoperation, time delay, LQG control, transparency, multimodel control, model-predictive control
Teleoperation,Control algorithm,Linear-quadratic-Gaussian control,Latency (engineering),Control theory,Model predictive control,Control engineering,Electrical impedance,Discrete time and continuous time,Mathematics
Journal
Volume
Issue
ISSN
25
2
0278-3649
Citations 
PageRank 
References 
9
0.60
14
Authors
2
Name
Order
Citations
PageRank
Shahin Sirouspour122921.84
Ali Shahdi2354.20