Control of a Teleoperation System by State Convergence with Variable Time Delay

Tafur Sotelo, Julio César and García, Cecilia and Aracil Santonja, Rafael and Saltaren Pazmiño, Roque Jacinto (2012). Control of a Teleoperation System by State Convergence with Variable Time Delay. In: "9th France-Japan & 7th Europe-Asia Congress on and Research and Education in Mechatronics (REM), 2012", 21/11/2012 - 23/11/2012, París, Francia. ISBN 978-1-4673-4770-9. pp. 40-47.

Description

Title: Control of a Teleoperation System by State Convergence with Variable Time Delay
Author/s:
  • Tafur Sotelo, Julio César
  • García, Cecilia
  • Aracil Santonja, Rafael
  • Saltaren Pazmiño, Roque Jacinto
Item Type: Presentation at Congress or Conference (Article)
Event Title: 9th France-Japan & 7th Europe-Asia Congress on and Research and Education in Mechatronics (REM), 2012
Event Dates: 21/11/2012 - 23/11/2012
Event Location: París, Francia
Title of Book: Mechatronics (MECATRONICS) , 2012 9th France-Japan & 7th Europe-Asia Congress on and Research and Education in Mechatronics (REM), 2012 13th Int'l Workshop on
Date: 2012
ISBN: 978-1-4673-4770-9
Subjects:
Freetext Keywords: Lyapunov-Krasovskii; nonlinear; stability; state convergence; teleoperation; variable time-delay
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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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.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2009-08778CICYTUnspecifiedUnspecified
Madrid Regional GovernmentP2009/DPI-1559ROBOCITY2030-IIUnspecifiedUnspecified

More information

Item ID: 34982
DC Identifier: http://oa.upm.es/34982/
OAI Identifier: oai:oa.upm.es:34982
Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6450986&tag=1
Deposited by: Memoria Investigacion
Deposited on: 04 Mar 2016 11:17
Last Modified: 18 May 2016 10:33
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