Robust Control of Infinite Dimensional Systems: Frequency Domain Methods
Robust Control of Infinite Dimensional Systems: Frequency Domain Methods
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Bilateral teleoperation: An historical survey
Automatica (Journal of IFAC)
Modeling and control of cooperative teleoperation systems
IEEE Transactions on Robotics
Model Predictive Control for Transparent Teleoperation Under Communication Time Delay
IEEE Transactions on Robotics
Foundations and Trends in Robotics
Improved transparency in bilateral teleoperation with variable time delay
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Design of internet-based teleoperation platform with brain-computer interface
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Trilateral teleoperation control of kinematically redundant robotic manipulators
International Journal of Robotics Research
Adaptive Control of Bilateral Teleoperation with Time Delay
International Journal of Intelligent Mechatronics and Robotics
Four-Channel Control Architectures for Bilateral and Multilateral Teleoperation
International Journal of Software Science and Computational Intelligence
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The control of time-delay bilateral teleoperation systems involves a delicate tradeoff between the conflicting requirements of transparency and robust stability. The control design is complicated by latency in data communication between the master and slave sites as well as uncertainties in the dynamics of operator, master, slave, and environment. This paper proposes a systematic design procedure for improving teleoperation fidelity while maintaining its stability in the presence of dynamic uncertainty and a constant time delay. In a two-step control approach, first local Lyapunov-based adaptive/nonlinear controllers are applied to linearize the system dynamics and eliminate dependency on the master and slave parameters. Teleoperation coordination, subject to parametric uncertainty in the user and environment dynamics, is then achieved by formulating an I/O time-delay H∞ robust control synthesis that is solved via its decomposition to the so-called adobe problems. The transparency and robust stability properties of the proposed method is examined via numerical analysis, Furthermore, the results are successfully validated in experiments.