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http://dx.doi.org/10.5302/J.ICROS.2007.13.11.1099

Bilateral Controller for Time-varying Communication Delay: Time Domain Passivity Approach  

Ryu, Jee-Hwan (한국기술교육대학교 기계정보공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.13, no.11, 2007 , pp. 1099-1105 More about this Journal
Abstract
In this paper, modified two-port time-domain passivity approach is proposed for stable bilateral control of teleoperators under time-varying communication delay. We separate input and output energy at each port of a bilateral controller, and propose a sufficient condition for satisfying the passivity of the bilateral controller including time-delay. Output energy at the master port should be less than the transmitted input energy from the slave port with time-delay, and output energy at the slave port should be less than the transmitted input energy from the master port with time-delay. For satisfying above two conditions, two passivity controllers are attached at each port of the bilateral controller. A packet reflector with wireless internet connection is used to introduce serious time-varying communication delay of teleoperators. Average amount of time-delay was about 190(msec) for round trip, and varying between 175(msec) and 275(msec). Moreover some data packet was lost during the communication due to UDP data communication. Even under the serious time-varying delay and packet loss communication condition, the proposed approach can achieve stable teleoperation in free motion and hard contact as well.
Keywords
teleoperation; bilateral control; time-delay; passivity controller; passivity observer; time-domain passivity;
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