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 |
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| container_issue | 7 |
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| container_title | IEEE transactions on industrial electronics (1982) |
| container_volume | 58 |
| creator | Villaverde, Alejandro Fernández Blas, Antonio Barreiro Carrasco, Joaquín Torrico, Alfonso Baños |
| description | 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. |
| doi_str_mv | 10.1109/TIE.2010.2077610 |
| format | Article |
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| ispartof | IEEE transactions on industrial electronics (1982), 2011-07, Vol.58 (7), p.3037-3045 |
| issn | 0278-0046 1557-9948 |
| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | 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 |
| title | Reset Control for Passive Bilateral Teleoperation |
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