Stabilization of Teleoperation Systems with Communication Delays: An IMC Approach
The presence of time delays in communication introduces a limitation to the stability of bilateral teleoperation systems. This paper considers internal model control (IMC) design of linear teleoperation system with time delays, and the stability of the closed-loop system is analyzed. It is shown tha...
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| Format: | Article |
| Language: | English |
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Hindawi Limited
2018-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2018/1018086 |
| Summary: | The presence of time delays in communication introduces a limitation to the stability of bilateral teleoperation systems. This paper considers internal model control (IMC) design of linear teleoperation system with time delays, and the stability of the closed-loop system is analyzed. It is shown that the stability is guaranteed delay-independently. The passivity assumption for external forces is removed for the proposed design of teleoperation systems. The behavior of the resulting teleoperation system is illustrated by simulations. |
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| ISSN: | 1687-9600 1687-9619 |