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
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