Smith Predictor Type Control Architectures for Time Delayed Teleoperation
International Journal of Robotics Research
Advances in Telerobotics
Stability and tracking properties in predictive control with adaptation for bilateral teleoperation
ACC'09 Proceedings of the 2009 conference on American Control Conference
Bilateral teleoperation: An historical survey
Automatica (Journal of IFAC)
Experimental Comparison Study of Control Architectures for Bilateral Teleoperators
IEEE Transactions on Robotics
Neural-network predictive control for nonlinear dynamic systems with time-delay
IEEE Transactions on Neural Networks
Adaptive fuzzy logic control for time-delayed bilateral teleoperation
AIS'12 Proceedings of the Third international conference on Autonomous and Intelligent Systems
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In the last two decades, an increasing interest has been observed in the development of effective bilateral teleoperation systems. One of the biggest challenges encountered however is the presence of time delay, which can cause instability and poor transparency to the system. Researchers have been trying to tackle this problem from different angles and various control schemes have been proposed and tested. This paper aims to do an overview of those schemes and to compare them based on their assessment in order to give new researchers a summary of the current state of art. The schemes are divided into four main categories: passivity based, prediction based, sliding-mode control schemes and others. The comparison is based on transparency level, stability requirement, delay type, and delay range.