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

dc.citation.epage3403en_US
dc.citation.issueNumber15en_US
dc.citation.spage3388en_US
dc.citation.volumeNumber26en_US
dc.contributor.authorAbidi K.en_US
dc.contributor.authorYildiz, Y.en_US
dc.contributor.authorKorpe, B. E.en_US
dc.date.accessioned2018-04-12T10:58:00Z
dc.date.available2018-04-12T10:58:00Z
dc.date.issued2016en_US
dc.departmentDepartment of Mechanical Engineeringen_US
dc.description.abstractThis 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.en_US
dc.identifier.doi10.1002/rnc.3513en_US
dc.identifier.issn1049-8923
dc.identifier.urihttp://hdl.handle.net/11693/36945
dc.language.isoEnglishen_US
dc.publisherJohn Wiley and Sons Ltden_US
dc.relation.isversionofhttp://dx.doi.org/10.1002/rnc.3513en_US
dc.source.titleInternational Journal of Robust and Nonlinear Controlen_US
dc.subjectDiscrete adaptive controlen_US
dc.subjectTeleroboticsen_US
dc.subjectTime-delay systemsen_US
dc.subjectAdaptive control systemsen_US
dc.subjectDelay control systemsen_US
dc.subjectDiscrete time control systemsen_US
dc.subjectIndustrial robotsen_US
dc.subjectRemote controlen_US
dc.subjectTransparencyen_US
dc.subjectCommunication time delaysen_US
dc.subjectDiscrete adaptive controlen_US
dc.subjectForce-reflecting teleoperationen_US
dc.subjectMassachusetts Institute of Technologyen_US
dc.subjectResearch environmenten_US
dc.subjectTele-roboticsen_US
dc.subjectTime delay compensationen_US
dc.subjectTime-delay systemsen_US
dc.subjectTime delayen_US
dc.titleExplicit time-delay compensation in teleoperation: an adaptive control approachen_US
dc.typeArticleen_US
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