Bilateral teleoperation under time-varying communication delay

Yokokohji, Yasuyoshi; Imaida, Takashi; Yoshikawa, Tsuneo

doi:10.1109/iros.1999.811748

Cited by 110 publications

(64 citation statements)

References 8 publications

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“…The gain (P gain) of the controller is adjusted based on the amount of time delay to maintain stability of the system. Passivity based control using scattering transformation does not requires an upper bound of delay (Anderson & Spong, 1989); however, as noted in previous research (Yokokohji et al, 1999), the method tends to be conservative and to consequently deteriorate overall performance. One of the typical approaches is a method base on robust control theory.…”

mentioning

confidence: 85%

Model Based μ-Synthesis Controller Design for Time-Varying Delay System

Uchimura¹

2011

Recent Advances in Robust Control - Novel Approaches and Design Methods

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mentioning

confidence: 85%

Model Based μ-Synthesis Controller Design for Time-Varying Delay System

Uchimura¹

2011

Recent Advances in Robust Control - Novel Approaches and Design Methods

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“…Firstly, energy transfer between the systems is controlled by introducing wave variables (9) . Secondly, control methods based on the LyapunovKrasovskii function has been proposed (10) .…”

Section: Introductionmentioning

confidence: 99%

Improvement of Operationality Under Time Varying Delay for Bilateral Teleoperation Systems by Differential Signal Based Data Modulation

Murata

Katsura

2017

IEEJ Journal IA

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This paper proposes a method to improve the operationality of bilateral teleoperation systems under time varying delay. Operationality is an index of the smoothness of an operation and is a performance index of bilateral teleoperation systems. Deterioration of operationality is salient under time varying delay communication because it causes system vibration. Therefore, this paper presents a novel method to improve the operationality in bilateral teleoperation systems by introducing differential signal based data modulation. The data modulation method transmits the original signal and its derivative via the network to mostly eliminate the effect of varying components in the time delay on the received information. Compared with conventional methods, the proposed method improves the operationality of a system while maintaining its symmetric structure but not increasing the time delay. Two experiments were conducted to show the validity of the proposed method.

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“…Scattering theory is applied to a bilateral teleoperation to successfully solve stability problem without any knowledge of internal dynamics of system [2]. Later the use of wave variables [3]was extended to variable delay, as in the case of the Internet [4,5]. However, passivity property of teleoperation renders a rather conservative robust stability condition, and performance degradation with increasing time delay still remains a serious issue.…”

Section: Introductionmentioning

confidence: 99%

Stability analysis for Internet based teleoperated robot using prediction control

Cogălniceanu

Tang

et al. 2011

2011 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

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Abstract-The variable time delay and the packet loss degrade the performance of Internet based teleoperation system seriously, even make the system unstable. Building upon the results of our recent work in [1], a provably stable event-prediction based control strategy is proposed for variable delay teleoperation. A Path Governor(PG) at master site, Generalized Predictive Controller (GPC) at slave site and a model of variable delay within a predictive control frame work are used to improve the response transparence. A Sparse Multivariable Linear Regression (SMLR) algorithm is proposed to predict the next Round Trip Timedelay(RTT). According to the next RTT, the PG is designed to generate the future event which can be used to compute the robotic position that is the one when the command was transmitted to the slave robot. The GPC can generate the redundant control information to diminish the influence of the packet loss and the large time delay in the internet to the system. Finally, a Lypunov-based analysis of the performance and stability of the resulting system is presented. Experiment results with a wheeled robot teleoperation setup demonstrate that these strategies can dynamically compensate for the variable time delay and reduce the performance degradation induced by packet loss.

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Bilateral teleoperation under time-varying communication delay

Cited by 110 publications

References 8 publications

Model Based μ-Synthesis Controller Design for Time-Varying Delay System

Model Based μ-Synthesis Controller Design for Time-Varying Delay System

Improvement of Operationality Under Time Varying Delay for Bilateral Teleoperation Systems by Differential Signal Based Data Modulation

Stability analysis for Internet based teleoperated robot using prediction control

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