Linear System Theory and Design
Linear System Theory and Design
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Transparency and Stability of Bilateral Kinesthetic Teleoperation with Time-Delayed Communication
Journal of Intelligent and Robotic Systems
Improving Perception in Time-delayed Telerobotics
International Journal of Robotics Research
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
Improved transparency in bilateral teleoperation with variable time delay
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Bilateral teleoperation: An historical survey
Automatica (Journal of IFAC)
Passive bilateral control and tool dynamics rendering for nonlinear mechanical teleoperators
IEEE Transactions on Robotics
Modeling and control of cooperative teleoperation systems
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
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This paper presents model-based predictive controllers that achieve a high level of transparency while maintaining stability in bilateral teleoperation under known constant or variable time delay. This goal is accomplished by utilizing available information on system model and time delay within an adaptive predictive control framework. The performance objectives are delay-free position tracking between the master and slave and the establishment of virtual mass-damper tool impedance between the user and environment. The controllers adapt to parameter changes in the user, environment as well as the master and slave dynamics. 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 to obtain the control laws. A Lyapunov analysis of the performance and stability of the resulting system is presented. The proposed controllers are evaluated experimentally under constant and variable delay conditions.