Control schemes for passive teleoperation systems over wide area communication networks with time varying delay

  • Authors:

  • Shafiqul Islam;Xiaoping P. Liu;Abdulmotaleb El Saddik;Lakmal Seneviratne;Jorge Dias

  • Affiliations:

  • School of Information Technology and Engineering, University of Ottawa, Ottawa, Canada K1N 6N5 and School of Engineering and Applied Sciences, Harvard University, Cambridge, USA 02138 and Robotics ...;Department of Systems and Computer Engineering, Carleton University, Ottawa, Canada K1S5B6;School of Information Technology and Engineering, University of Ottawa, Ottawa, Canada K1N 6N5 and Electrical Engineering, New York University, AD, UAE 129188;Division of Engineering, Kings College London, London, UK and Robotics and Mechanical Engineering, Khalifa University of Science & Technology, AD, UAE 127788;Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal and Robotics and Electrical and Computer Engineering, Khalifa University of Science & Technology, AD, UAE 127788

  • Venue:
  • International Journal of Automation and Computing
  • Year:
  • 2014

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Abstract

In this paper, the problem of time varying telecommunication delays in passive teleoperation systems is addressed. The design comprises delayed position, velocity and position-velocity signals with the local position and velocity signals of the master and slave manipulators. Nonlinear adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave manipulators. Lyapunov-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation systems. The stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote sites. Finally, evaluation results are presented to illustrate the effectiveness of the proposed design for real-time applications.