Time domain passivity control of teleoperation systems with random asymmetric time delays

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2009, Pages 7533-7538

  Ye, Yongqiang ^a,b   Pan, Ya Jun ^a   Gupta, Yash ^a  

^a DALHOUSIE UNIVERSITY   (Canada)

^b NANJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS   (China)

Author keywords

[No Author keywords available]

Indexed keywords

REMOTE CONTROL; TIME DELAY;

BILATERAL SYSTEMS; BILATERAL TELEOPERATION; TELEOPERATION SYSTEMS; TIME DELAY COMMUNICATIONS; TIME DOMAIN PASSIVITY CONTROL;

DELAY CONTROL SYSTEMS;

EID: 77950813192     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2009.5399893     Document Type: Conference Paper

References (18)

1. T. B. Sheridan, "Telerobotics," Automatica, vol.25, no.4, pp. 487-507, 1989.
2. M. J. Massimino and T. B. Sheridan, "Teleoperator performance with varying force and visual feedback," Human Factors, vol.36, no.1, pp. 145-157, 1994.
3. R. Oboe and P. Fiorini, "A design and control environment for Internet-based teleoperation," International Journal of Robotics Research, vol.17, no.4, pp. 433-449, 1998.
4. R. J. Anderson and M. W. Spong, "Bilateral control of teleoperators with time delay," IEEE Transactions on Automatic Control, vol.34, no.5, pp. 494-501, May 1989.
5. G. Niemeyer and J.-J. E. Slotine, "Telemanipulation with time delays," International Journal of Robotics Research, vol.23, no.9, pp. 873-890, Sept. 2004.
6. W. S. Kim, B. Hannaford, and A. K. Bejczy, "Force-reflection and shared compliant control in operating telemanipulators with time delay," IEEE Transactions on Robotics and Automation, vol.8, no.2, pp. 176-185, Apr. 1992.
7. D. Lee and M. W. Spong, "Passive bilateral control of teleoperators under constant time delay," IEEE Transactions on Robotics, vol.22, no.2, pp. 269-281, 2006.
8. I. G. Polushin, P. X. Liu, and C.-H. Lung, "A force-reflection algorithm for improved transparency in bilateral teleoperation with communication delay," IEEE/ASME Transactions on Mechatronics, vol.12, no.3, pp. 361-374, 2007.
9. B. Hannaford and J.-H. Ryu, "Time-domian passivity control of haptic interfaces," IEEE Transactions on Robotics and Automation, vol.18, no.1, pp. 426-434, Feb. 2002.
10. J.-H. Ryu, D.-S. Kwon, and B. Hannaford, "Stalbe teleoperation with time-domain passivity control," IEEE Transactions on Robotics and Automation, vol.20, no.2, pp. 365-373, Apr. 2004.
11. J.-H. Ryu and C. Preusche, "Stable bilateral control of teleoperator under time-varying communication delay: Time domain passivity approach," in the Proceedings of the 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, 2007, pp. 3508-3513.
12. J.-H. Ryu, C. Preusche, B. Hannaford, and G. Hirzinger, "Time domain passivity control with reference energy following," IEEE Transactions on Control Systems Technology, vol.13, no.5, pp. 737-742, Sept. 2005.
13. Y. Ye, Y.-J. Pan, and Y. Gupta, "A simplified time domain passivity control of haptic interfaces," in 2008 IASTED International Conference on Intelligent Systems and Control, Orlando, FL, 2008, pp. 215-219.
14. J.-J. E. Slotine and W. Li, Applied Nonlinear Control. Englewood Cliffs, NJ: Prentice-Hall, 1991.
15. G. Niemeyer and J.-J. E. Slotine, "Stable adaptive teleoperation," IEEE Journal of Oceanic Engineering, vol.16, no.1, pp. 152-162, Jan. 1991.
16. A. Iqbal and H. Roth, "Stabilization of teleoperated systems with stochastic time delays using time domain passivity control," in in the Proceedings of the SICE-ICASE International Joint Conference 2006, Busan, Korean, 2006, pp. 393-398.
17. -, "Predictive time domain passivity control for delayed teleoperation using energy derivatives," in in the Proceedings of the 9th International Conference on Control, Automation, Robotics and Vision, Singapore, 2006, pp. 1-6.
18. J.-H. Ryu, "Bilateral control with time domain passivity approach under time-varying communication delay," in the Proceedings of the 16th IEEE International Conference on Robot & Human Interactive Communication, Jeju, Korea, 2007, pp. 986-991.