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http://dx.doi.org/10.5302/J.ICROS.2008.14.11.1124

Bilateral Control with Time Domain Passivity Approach under Time-varying Communication Delay: Resetting Scheme  

Ryu, Jee-Hwan (한국기술교육대학교 기계정보공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.11, 2008 , pp. 1124-1129 More about this Journal
Abstract
Recently, two-port time-domain passivity approach was modified for time-varying communication delay. The newly proposed approach could achieve stable teleoperation even under the serious time-varying delay and packet loss communication condition. However, after some operation hour, the accumulated energy difference between the input energy from one port and the output energy at the other port caused unstable behavior until the passivity controller is activated. Resetting scheme is introduced for solving this problem, and stable bilateral teleoperation can be guaranteed without worrying about the accumulated energy difference.
Keywords
bilateral control; passivity controller; passivity observer; teleoperation; time-delay; time-domain passivity;
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