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      Explicit time-delay compensation in teleoperation: an adaptive control approach

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      Author(s)
      Abidi K.
      Yildiz, Y.
      Korpe, B. E.
      Date
      2016
      Source Title
      International Journal of Robust and Nonlinear Control
      Print ISSN
      1049-8923
      Publisher
      John Wiley and Sons Ltd
      Volume
      26
      Issue
      15
      Pages
      3388 - 3403
      Language
      English
      Type
      Article
      Item Usage Stats
      213
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      300
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      Abstract
      This paper proposes a control framework that addresses the destabilizing effect of communication time delays and system uncertainties in telerobotics, in the presence of force feedback. Force feedback is necessary to obtain transparency, which is providing the human operator as close a feel as possible of the environment where the slave robot is operating. Achieving stability and providing transparency are conflicting goals. This is the major reason why, currently, a very few, if at all, fully operational force feedback teleoperation devices exist except for research environments. The proposed framework handles system uncertainty with adaptation and communication time delays with explicit delay compensation. The technology that allows this explicit adaptive time-delay compensation is inspired by Massachusetts Institute of Technology (MIT)'s Adaptive Posicast Controller. We provide simulation results that demonstrate stable explicit adaptive delay compensation in a force-reflecting teleoperation set up. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.
      Keywords
      Discrete adaptive control
      Telerobotics
      Time-delay systems
      Adaptive control systems
      Delay control systems
      Discrete time control systems
      Industrial robots
      Remote control
      Transparency
      Communication time delays
      Discrete adaptive control
      Force-reflecting teleoperation
      Massachusetts Institute of Technology
      Research environment
      Tele-robotics
      Time delay compensation
      Time-delay systems
      Time delay
      Permalink
      http://hdl.handle.net/11693/36945
      Published Version (Please cite this version)
      http://dx.doi.org/10.1002/rnc.3513
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      • Department of Mechanical Engineering 330
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