Adaptive control of a continuous-time system with time-varying input delay
Systems & Control Letters
Linear System Theory and Design
Linear System Theory and Design
Transparency and Stability of Bilateral Kinesthetic Teleoperation with Time-Delayed Communication
Journal of Intelligent and Robotic Systems
Model-based Decentralized Control of Time-delay Teleoperation Systems
International Journal of Robotics Research
An adaptive controller for bilateral teleoperation under time delay
WHC '09 Proceedings of the World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Adaptive/robust control for time-delay teleoperation
IEEE Transactions on Robotics
Passive Bilateral Teleoperation With Constant Time Delay
IEEE Transactions on Robotics
Model Predictive Control for Transparent Teleoperation Under Communication Time Delay
IEEE Transactions on Robotics
Adaptive fuzzy logic control for time-delayed bilateral teleoperation
AIS'12 Proceedings of the Third international conference on Autonomous and Intelligent Systems
Adaptive Control of Bilateral Teleoperation with Time Delay
International Journal of Intelligent Mechatronics and Robotics
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Communication time delay has been a major barrier to achieving high performance while maintaining stability in bilateral teleoperation. Building upon the results of our recent work in [1], a provably stable adaptive controller is proposed for variable delay teleoperation. The controller utilizes a model of the system dynamics and the time delay within a predictive control framework to improve the response transparency. It can also adapt to uncertainties in the user and environment dynamics. The performance objectives are delay-free position tracking between the master and slave and the establishment of a virtual mass-damper tool impedance between the user and environment. Delay reduction is accomplished based on a state observer and estimates of the system parameters. Using the delay reduced dynamics, an adaptive output regulation problem is formulated and solved. A Lypunov-based analysis of the performance and stability of the resulting system is presented. Simulation results with a single-axis teleoperation setup demonstrate the effectiveness of the proposed approach.