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Passive Bilateral Control of Teleoperators under Varying Time-Delay  

Gu, Ying (Electronics and Information Department, Chonbuk National University)
Yoo, Sung-Goo (Control and Instrumentation Department, Chonbuk National University)
Chong, Kil-To (Electronics and Information Department, Chonbuk National University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.46, no.1, 2009 , pp. 22-27 More about this Journal
Abstract
Bilateral teleoperation systems, connected to computer networks such as Internet have to deal with the time delay depending on factors such as congestion, bandwidth or distance. And the entire system is easy to become unstable due to irregular time delay. Passivity concept has been using as a framework to solve the stability problem in bilateral control of teleoperation. In this paper, we present a suitable time varying gain inserted in the transmission path that can recover passivity provided a bound on the rate of change of the known delay. Simulation results are presented showing the performance of the resulting control architecture.
Keywords
Bilateral teleoperation; passive control; time delay;
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Times Cited By KSCI : 3  (Citation Analysis)
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