Bilateral control with constant feedback gains for teleoperation with time varying delay

Toru Namerikawa

doi:10.1109/CDC.2009.5399781

Bilateral control with constant feedback gains for teleoperation with time varying delay

Toru Namerikawa

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

23 Citations (Scopus)

Abstract

This paper describes a bilateral control of nonlinear teleoperation with time varying communication delay. The proposed method are simple PD-type controllers which are independent of the rate of time delay change and depend on the upper bound of round-trip delay. The proposed control strategy is independent of parameter uncertainties of the model of the robots and the operator and remote environment. The delay-dependent stability of the origin is shown via Lyapunov stability theorem. Furthermore the proposed strategy also achieves master-slave position coordination and bilateral static force reflection. Several experimental results with wireless communication and the Internet show the effectiveness of our proposed strategy.

Original language	English
Title of host publication	Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7527-7532
Number of pages	6
ISBN (Print)	9781424438716
DOIs	https://doi.org/10.1109/CDC.2009.5399781
Publication status	Published - 2009
Event	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China Duration: 2009 Dec 15 → 2009 Dec 18

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Country/Territory	China
City	Shanghai
Period	09/12/15 → 09/12/18

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2009.5399781

Cite this

Namerikawa, T. (2009). Bilateral control with constant feedback gains for teleoperation with time varying delay. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (pp. 7527-7532). Article 5399781 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2009.5399781

Bilateral control with constant feedback gains for teleoperation with time varying delay. / Namerikawa, Toru.
Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. p. 7527-7532 5399781 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Namerikawa, T 2009, Bilateral control with constant feedback gains for teleoperation with time varying delay. in Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009., 5399781, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 7527-7532, 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China, 09/12/15. https://doi.org/10.1109/CDC.2009.5399781

Namerikawa T. Bilateral control with constant feedback gains for teleoperation with time varying delay. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc. 2009. p. 7527-7532. 5399781. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2009.5399781

Namerikawa, Toru. / Bilateral control with constant feedback gains for teleoperation with time varying delay. Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. pp. 7527-7532 (Proceedings of the IEEE Conference on Decision and Control).

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AB - This paper describes a bilateral control of nonlinear teleoperation with time varying communication delay. The proposed method are simple PD-type controllers which are independent of the rate of time delay change and depend on the upper bound of round-trip delay. The proposed control strategy is independent of parameter uncertainties of the model of the robots and the operator and remote environment. The delay-dependent stability of the origin is shown via Lyapunov stability theorem. Furthermore the proposed strategy also achieves master-slave position coordination and bilateral static force reflection. Several experimental results with wireless communication and the Internet show the effectiveness of our proposed strategy.

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Bilateral control with constant feedback gains for teleoperation with time varying delay

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