Explicit time-delay compensation in teleoperation: an adaptive control approach
International Journal of Robust and Nonlinear Control
John Wiley and Sons Ltd
3388 - 3403
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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 Â© 2016 John Wiley & Sons, Ltd. Copyright Â© 2016 John Wiley & Sons, Ltd.
KeywordsDiscrete adaptive control
Adaptive control systems
Delay control systems
Discrete time control systems
Communication time delays
Discrete adaptive control
Massachusetts Institute of Technology
Time delay compensation
Published Version (Please cite this version)http://dx.doi.org/10.1002/rnc.3513
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