A stabilizing control technique for bilateral teleoperation system with time delay
- Title
- A stabilizing control technique for bilateral teleoperation system with time delay
- Author
- 이병주
- Keywords
- Passivity controller; Teleoperation; Wave variables
- Issue Date
- 2005-00
- Publisher
- IEEE
- Citation
- 2005 IEEE Workshop on Advanced Robotics and its Social Impacts, v. 2005, article no. 1511631, Page. 103-108
- Abstract
- In this paper, a hybrid stabilization approach involving both passivity observer/passivity controller and wave variables is addressed to stabilize a teleoperation system with fixed time delay. To guarantee the stability of master or slave side, passivity observer/passivity controller are applied. But, passivity observer/passivity controller cannot deal with communication delay, and thus even small communication delay cause the system to be unstable. To cope with this problem, wave variables are additionally employed to have robustness to fixed communication delays. To show the validity of our proposed approach, several computer simulation and experimental results are illustrated. © 2005 IEEE.
- URI
- https://ieeexplore.ieee.org/document/1511631https://repository.hanyang.ac.kr/handle/20.500.11754/181119
- ISSN
- 2162-7568;2162-7576
- DOI
- 10.1109/ARSO.2005.1511631
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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