Name
Abstract | ||
|---|---|---|
In this paper, we propose an approach to the control of linear teleoperation systems under time delays. Unlike traditional delay-robust control systems that guarantee passive communication channel through the transmission of wave variables, the new approach uses the concept of absolute stability for the physically expressive Lawrence's four-channel structure for transmitting the standard power variables, i.e., force and position. By incorporating kinesthetic performance requirements, we derive an absolutely stable four-channel controller that is transparent when time delay is negligible. Experimentally, the study evaluates and compares the performance of the proposed controller with that of a benchmark wave variable-based controller. The results indicate contact stability for large delays, a lack of position drift, and improved position and force tracking in both the free motion and rigid contact regimes for small delays. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/TOH.2012.52 | IEEE T. Haptics |
Keywords | Field | DocType |
stable four-channel controller,time delay,improved position,robust stability,contact stability,teleoperation systems,variable-based controller,benchmark wave,absolute stability,proposed controller,new approach,position drift,force tracking,robust control,impedance,scattering,transparency,teleoperation,numerical stability,linear systems | Passivity,Teleoperation,Control theory,Linear system,Computer science,Control theory,Communication channel,Control engineering,Control system,Robust control,Numerical stability | Journal |
Volume | Issue | ISSN |
6 | 2 | 2329-4051 |
Citations | PageRank | References |
3 | 0.44 | 13 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Amir Haddadi | 1 | 85 | 7.26 |
| Keyvan Hashtrudi-Zaad | 2 | 577 | 50.93 |