Bilateral Teleoperation With Time-Varying Delay: A Communication Channel Passification Approach

被引：61
|
作者：
Ye, Yongqiang [1 ]
Pan, Ya-Jun [2 ]
Hilliard, Trent [2 ]
机构：
[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Peoples R China
[2] Dalhousie Univ, Dept Mech Engn, Halifax, NS B3H 4R2, Canada
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2013年 / 18卷 / 04期
基金：
加拿大创新基金会; 加拿大自然科学与工程研究理事会; 中国国家自然科学基金;
关键词：
Bilateral communication; teleoperation; time-domain passivity control (TDPC); DOMAIN PASSIVITY CONTROL; HAPTIC INTERFACES;
D O I：
10.1109/TMECH.2013.2255882
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the activeness of bilateral communication with time-varying delay is analyzed. Based on the power-based time-domain passivity control previously proposed, a time-domain passivity control approach is derived for bilateral communication. Teleoperation experimental results verify the effectiveness.
引用
收藏
页码：1431 / 1434
页数：4
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