Paper Info
Title
An adaptive controller for bilateral teleoperation under time delay
Abstract
Previous efforts in bilateral time-delay teleoperation have mainly yielded control algorithms that sacrifice performance in order to guarantee robust stability. This paper proposes a provably stable adaptive predictive controller for teleoperation systems with communication delay. The method uses the model and delay information and can adapt to uncertainties in user and environment dynamics in order to achieve delay-free transparency objectives. These include position tracking and tool impedance shaping. Delay reduction is accomplished using a state observer and estimates of the system parameters. Teleoperation transparency objectives are attained within an output regulation control framework based on the predicted system dynamics. A Lyapunov analysis has been used to prove the stability of the system and to obtain the parameter adaptation law. Simulation results with a single-axis teleoperation setup demonstrate the effectiveness of the proposed approach.
Year
DOI
Venue
2009
10.1109/WHC.2009.4810881
Salt Lake City, UT
Keywords
Field
DocType
adaptive controller,system parameter,delay reduction,delay information,bilateral time-delay teleoperation,teleoperation system,bilateral teleoperation,system dynamic,single-axis teleoperation setup,communication delay,time delay,control algorithm,teleoperation transparency objective,stability analysis,robust control,model predictive control,force,parameter estimation,predictive control,tracking,telerobotics,system dynamics,robots,dynamics,state observer,transparency,impedance,teleoperation,adaptive control,uncertainty,control systems
State observer,Teleoperation,Lyapunov function,Control theory,Control theory,Model predictive control,Control engineering,Adaptive control,Engineering,Robust control,Telerobotics
Conference
ISBN
Citations 
PageRank 
978-1-4244-3858-7
2
0.37
References 
Authors
14
2
Name
Order
Citations
PageRank
Ali Shahdi1354.20
Shahin Sirouspour222921.84