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http://dx.doi.org/10.5302/J.ICROS.2003.9.8.600

A Stabilizing Control technique for Bilateral Teleoperation System with Time delay using Adjustable Characteristic Impedance of wave Variable  

김형욱 (한양대학교 전자컴퓨터공학부)
김종복 (한양대학교 정보통신대학원)
서일홍 (한양대학교 정보통신대학원)
이병주 (한양대학교 전자컴퓨터공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.9, no.8, 2003 , pp. 600-609 More about this Journal
Abstract
A hybrid stabilization approach involving both Passivity Observer/passivity Controller and wave variables is addressed to stabilize the teleoperation system with time delay. To guarantee the stability of master or slave side, Passivity Observer and Passivity Controller are applied. But Passivity Observer and Passivity Controller technique cannot deal with communication delay and even small communication delay cause the system to be unstable. To cope with this problem, wave variables are additionally employed to have robustness to arbitrary delays. To show the validity of our proposed approach, several computer simulation results are illustrated.
Keywords
teleoperation; wave variable; passivity; time delay;
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