A Bilateral Control of Teleoperators Based on Time Delay Identification

被引：0
|
作者：
Zhang, Tao [1 ]
Cui, Yan-qiu [1 ]
机构：
[1] Dalian Nationalities Univ, Coll Electromech & Informat Engn, Dalian, Peoples R China
来源：
2008 IEEE CONFERENCE ON ROBOTICS, AUTOMATION, AND MECHATRONICS, VOLS 1 AND 2 | 2008年
关键词：
wave variables; wave integrals; time-varying delay; identification;
D O I：
暂无
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, passivity and wave variables are first introduced, and then the reasons of communication time-varying delay are analyzed. For this time-varying delay a new-type time delay identification method based on the cross-correlation technology is proposed and this method can converge the time-varying delay parameter quickly. Finally this method is combined with wave integrals and a control scheme is proposed especially for time-varying delay. The effectiveness of the proposed method has been demonstrated through the simulation results.
引用
收藏
页码：947 / 952
页数：6
相关论文
共 50 条
  • [1] BILATERAL CONTROL OF TELEOPERATORS WITH TIME-DELAY
    ANDERSON, RJ
    SPONG, MW
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1989, 34 (05) : 494 - 501
  • [2] Adaptive coordination control of bilateral teleoperators with time delay
    Chopra, N
    Spong, MW
    Lozano, R
    2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5, 2004, : 4540 - 4547
  • [3] Synchronization of bilateral teleoperators with time delay
    Chopra, Nikhil
    Spong, Mark W.
    Lozano, Rogelio
    AUTOMATICA, 2008, 44 (08) : 2142 - 2148
  • [4] Bilateral control of teleoperators with time-delay:: Stability analysis
    Azorín, JM
    Aracil, R
    Sabater, JM
    Fernández, C
    INTERNET BASED CONTROL EDUCATION 2001, 2002, : 195 - 200
  • [5] A Time Delay System Approach to Synchronization Control of Bilateral Teleoperators
    Chen, Xianzuo
    He, Shengquan
    2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2017, : 2563 - 2568
  • [6] Passive bilateral control of teleoperators under time delay and scaling factors
    Boukhnifer, Moussa
    Ferreira, Antoine
    2005 44TH IEEE CONFERENCE ON DECISION AND CONTROL & EUROPEAN CONTROL CONFERENCE, VOLS 1-8, 2005, : 6972 - 6977
  • [7] Task-Space Bilateral Control of Teleoperators with Time-Varying Delay
    Wang, Hanlei
    2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC), 2019, : 1698 - 1703
  • [8] Task-Space Adaptive Control of Bilateral Teleoperators with Time-Varying Delay
    Zhang, Congxi
    Wang, Hanlei
    PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE, 2020, : 4586 - 4591
  • [9] Towards Manipulability of Bilateral Teleoperators With Time-Varying Delay
    Wang, Hanlei
    2018 CHINESE AUTOMATION CONGRESS (CAC), 2018, : 946 - 951
  • [10] Performance improvement of the PD-based bilateral teleoperators with time delay by introducing relative D-control
    Imaida, Takashi
    Senda, Kei
    ADVANCED ROBOTICS, 2015, 29 (06) : 385 - 400
12345