Bilateral Time Delay Compensation in Bilateral Master Slave Teleoperation of Differential Mobile Robots Using IMC

被引：0
|
作者：
Vences-Jimenez, Julio A. [1 ]
Rodriguez-Angeles, Alejandro [1 ]
Alvarez-Gallegos, Jaime [1 ]
机构：
[1] Cinvestav IPN, Mechatron Grp, Mexico City, DF, Mexico
来源：
PROCEEDINGS OF THE 2018 13TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2018) | 2018年
关键词：
IMC; Smith Predictor; time delay; teleoperation; mobile robot; linearization;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This work presents design and implementation of an IMC (Internal Model Control) for bilateral teleoperation of differential mobile robots. Constant time delays are considered at the communication channel that yields bilateral teleoperation, in both forward and feedback channels. Time delay effects are compensated by using a Smith Predictor. Dynamic linearization of the differential mobile robots is considered, then the proposed IMC algorithm combined with Smith Predictor compensates degrading effects due to time delays. Experimental results show the performance and robustness of the proposed controller.
引用
收藏
页码：1302 / 1307
页数：6
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