Control of a teleoperation system by state convergence with variable time delay

Julio C. Tafur, C. Garcia, R. Aracil, R. Saltaren

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

In this paper, we propose a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. We consider that the human operator contains a constant force on the local manipulator. The local and remote manipulators are coupled using state convergence control scheme. By choosing a Lyapunov-Krasovskii functional, we show that the local-remote teleoperation system is asymptotically stable. It is also shown that, in the case of reliable communication protocols, the proposed scheme guarantees that the remote manipulator tracks the delayed trajectory of the local manipulator. The time delay of communication channel is assumed to be unknown and randomly time varying, but the upper bounds of the delay interval and the derivative of the delay are assumed to be known.

Original languageEnglish
Title of host publication2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 / 13th International Workshop on Research and Education in Mechatronics, REM 2012
Pages40-47
Number of pages8
DOIs
StatePublished - 2012
Externally publishedYes
EventJoint 2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 and 13th International Workshop on Research and Education in Mechatronics, REM 2012 - Paris, France
Duration: 21 Nov 201223 Nov 2012

Publication series

Name2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 / 13th International Workshop on Research and Education in Mechatronics, REM 2012

Conference

ConferenceJoint 2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 and 13th International Workshop on Research and Education in Mechatronics, REM 2012
Country/TerritoryFrance
CityParis
Period21/11/1223/11/12

Keywords

  • Lyapunov-Krasovskii
  • nonlinear
  • stability
  • state convergence
  • teleoperation
  • variable time-delay

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