Reset Control for Passive Bilateral Teleoperation

Reset Control for Passive Bilateral Teleoperation

Communication delays are problematic for teleoperated systems. They give rise to a tradeoff between speed and robustness, which cannot be overcome by means of linear controllers. In order to solve this problem, in this paper, we present a novel approach that combines passivity-based techniques and r...

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Veröffentlicht in:IEEE transactions on industrial electronics (1982) 2011-07, Vol.58 (7), p.3037-3045
Hauptverfasser: Villaverde, Alejandro Fernández, Blas, Antonio Barreiro, Carrasco, Joaquín, Torrico, Alfonso Baños
Format: Artikel
Sprache:eng
Schlagworte:
Controllers
Delay
Delay effects
Equations
Frequency modulation
Impedance
Industrial electronics
Nonlinear control
Passive control
passivity
reset control
Robustness
Scattering
Simulation
Stability
Steady-state
Strategy
teleoperation
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Beschreibung
Zusammenfassung:Communication delays are problematic for teleoperated systems. They give rise to a tradeoff between speed and robustness, which cannot be overcome by means of linear controllers. In order to solve this problem, in this paper, we present a novel approach that combines passivity-based techniques and reset-control principles. In this way, it is possible to obtain simultaneously the robust stability properties of passive control and the performance improvement enabled by reset strategies. Experimental and simulation results are presented, which confirm the good behavior achieved with this method.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2010.2077610