DocumentCode :
1979737
Title :
Bilateral teleoperation under communication time delay using an LQG controller
Author :
Sirouspour, S. ; Shahdi, A.
Author_Institution :
Dept. of Electr. & Comput. Eng., McMaster Univ., Hamilton, Ont.
fYear :
2005
fDate :
28-31 Aug. 2005
Firstpage :
1257
Lastpage :
1262
Abstract :
The communication channel delay can adversely affect performance and stability of bilateral teleoperation systems. This paper proposes a discrete-time linear quadratic Gaussian (LQG) controller that delivers a transparent stable response in the presence of constant communication latency. Different controllers are designed for each phase of operation, i.e. free motion and contact with rigid environments. Switching between the controllers occurs according to the identified contact phase. The treatment of the problem in the discrete-time domain allows for the development of a finite dimension state-space model that explicitly includes the time delay. Performance objectives such as position tracking and tool impedance shaping for free motion, as well as position and force tracking for contact with rigid environments are incorporated into the LQG control design framework. Experimental studies demonstrate that the proposed control technique is highly effective in providing a stable transparent interface for teleoperation under time delay
Keywords :
control system synthesis; controllers; delay systems; discrete time systems; force control; linear quadratic Gaussian control; position control; state-space methods; telerobotics; LQG controller; bilateral teleoperation; communication channel delay; communication latency; communication time delay; controller design; discrete-time linear quadratic Gaussian; finite dimension state-space model; force tracking; position tracking; tool impedance shaping; Bandwidth; Communication system control; Control design; Control systems; Delay effects; Master-slave; Robot kinematics; Robust stability; Teleoperators; Tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location :
Toronto, Ont.
Print_ISBN :
0-7803-9354-6
Type :
conf
DOI :
10.1109/CCA.2005.1507304
Filename :
1507304
Link To Document :
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