A stabilizing control technique for bilateral teleoperation system with time delay

Hyung Wook Kim, Il Hong Suh, Byung Ju Yi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

In this paper, a hybrid stabilization approach involving both passivity observer/passivity controller and wave variables is addressed to stabilize a teleoperation system with fixed time delay. To guarantee the stability of master or slave side, passivity observer/passivity controller are applied. But, passivity observer/passivity controller cannot deal with communication delay, and thus even small communication delay cause the system to be unstable. To cope with this problem, wave variables are additionally employed to have robustness to fixed communication delays. To show the validity of our proposed approach, several computer simulation and experimental results are illustrated.

Original languageEnglish
Title of host publication2005 IEEE Workshop on Advanced Robotics and its Social Impacts
Pages103-108
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
Event2005 IEEE Workshop on Advanced Robotics and its Social Impacts - Nagoya, Japan
Duration: 2005 Jun 122005 Jun 15

Publication series

Name2005 IEEE Workshop on Advanced Robotics and its Social Impacts
Volume2005

Other

Other2005 IEEE Workshop on Advanced Robotics and its Social Impacts
CountryJapan
CityNagoya
Period05/06/1205/06/15

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Keywords

  • Passivity controller
  • Teleoperation
  • Wave variables

Cite this

Kim, H. W., Suh, I. H., & Yi, B. J. (2005). A stabilizing control technique for bilateral teleoperation system with time delay. In 2005 IEEE Workshop on Advanced Robotics and its Social Impacts (pp. 103-108). [1511631] (2005 IEEE Workshop on Advanced Robotics and its Social Impacts; Vol. 2005). https://doi.org/10.1109/ARSO.2005.1511631