Passivity and RISE based robust control for bilateral teleoperation system with communication delay

Yasunori Kawai; Toru Namerikawa

doi:10.1109/CCA.2013.6662770

Passivity and RISE based robust control for bilateral teleoperation system with communication delay

Yasunori Kawai, Toru Namerikawa

Department of System Design Engineering

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

4 Citations (Scopus)

Abstract

In this paper, a method for passivity- and robust integral of the sign of the error (RISE)-based control of a nonlinear teleoperation system with communication delays is proposed. This control strategy can accurately achieve coordinate positioning under conditions with viscous friction and unmodeled effects compensation errors, and its stability condition is independent of robot model parameter uncertainties and time delay. Using passivity-based stability analysis, the stability and tracking performance of this system are demonstrated, and experimental trials are performed to verify its effectiveness.

Original language	English
Title of host publication	2013 IEEE International Conference on Control Applications, CCA 2013
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	270-275
Number of pages	6
ISBN (Print)	9781479915590
DOIs	https://doi.org/10.1109/CCA.2013.6662770
Publication status	Published - 2013 Jan 1
Event	2013 IEEE International Conference on Control Applications, CCA 2013 - Hyderabad, India Duration: 2013 Aug 28 → 2013 Aug 30

Publication series

Name	Proceedings of the IEEE International Conference on Control Applications

Other

Other	2013 IEEE International Conference on Control Applications, CCA 2013
Country/Territory	India
City	Hyderabad
Period	13/8/28 → 13/8/30

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Mathematics(all)

Access to Document

10.1109/CCA.2013.6662770

Cite this

Kawai, Y., & Namerikawa, T. (2013). Passivity and RISE based robust control for bilateral teleoperation system with communication delay. In 2013 IEEE International Conference on Control Applications, CCA 2013 (pp. 270-275). Article 6662770 (Proceedings of the IEEE International Conference on Control Applications). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCA.2013.6662770

Passivity and RISE based robust control for bilateral teleoperation system with communication delay. / Kawai, Yasunori; Namerikawa, Toru.
2013 IEEE International Conference on Control Applications, CCA 2013. Institute of Electrical and Electronics Engineers Inc., 2013. p. 270-275 6662770 (Proceedings of the IEEE International Conference on Control Applications).

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

Kawai, Y & Namerikawa, T 2013, Passivity and RISE based robust control for bilateral teleoperation system with communication delay. in 2013 IEEE International Conference on Control Applications, CCA 2013., 6662770, Proceedings of the IEEE International Conference on Control Applications, Institute of Electrical and Electronics Engineers Inc., pp. 270-275, 2013 IEEE International Conference on Control Applications, CCA 2013, Hyderabad, India, 13/8/28. https://doi.org/10.1109/CCA.2013.6662770

Kawai Y, Namerikawa T. Passivity and RISE based robust control for bilateral teleoperation system with communication delay. In 2013 IEEE International Conference on Control Applications, CCA 2013. Institute of Electrical and Electronics Engineers Inc. 2013. p. 270-275. 6662770. (Proceedings of the IEEE International Conference on Control Applications). doi: 10.1109/CCA.2013.6662770

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AB - In this paper, a method for passivity- and robust integral of the sign of the error (RISE)-based control of a nonlinear teleoperation system with communication delays is proposed. This control strategy can accurately achieve coordinate positioning under conditions with viscous friction and unmodeled effects compensation errors, and its stability condition is independent of robot model parameter uncertainties and time delay. Using passivity-based stability analysis, the stability and tracking performance of this system are demonstrated, and experimental trials are performed to verify its effectiveness.

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Passivity and RISE based robust control for bilateral teleoperation system with communication delay

Abstract

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