DocumentCode
21582
Title
Bilateral Teleoperation With Time-Varying Delay: A Communication Channel Passification Approach
Author
Yongqiang Ye ; Ya-Jun Pan ; Hilliard, Trent
Author_Institution
Coll. of Autom. Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China
Volume
18
Issue
4
fYear
2013
fDate
Aug. 2013
Firstpage
1431
Lastpage
1434
Abstract
In this paper, the activeness of bilateral communication with time-varying delay is analyzed. Based on the power-based time-domain passivity control previously proposed, a time-domain passivity control approach is derived for bilateral communication. Teleoperation experimental results verify the effectiveness.
Keywords
delays; telecontrol; time-domain analysis; time-varying systems; bilateral teleoperation; communication channel passification approach; power-based time-domain passivity control; time-varying delay; Bilateral communication; teleoperation; time-domain passivity control (TDPC);
fLanguage
English
Journal_Title
Mechatronics, IEEE/ASME Transactions on
Publisher
ieee
ISSN
1083-4435
Type
jour
DOI
10.1109/TMECH.2013.2255882
Filename
6502247
Link To Document