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
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);
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2013.2255882
