DocumentCode
2185389
Title
Robust control with observer of internet-based teleoperation
Author
Qihong, Chen ; Shumin, Fei ; Aiguo, Song
Author_Institution
Res. Inst. of Autom., Southeast Univ., Nanjing, China
Volume
1
fYear
2003
fDate
4-6 June 2003
Firstpage
621
Abstract
Time delay reduces significantly ability of teleoperation. This problem becomes especially seriously in case of Internet-based teleoperation, when the time delay is variable. To overcome the trouble, time forward observer is used to predict the state of the slave. Moreover, force, position and velocity feedback is proposed to ensure that the system is robust asymptotically stable and transparent. The results of the experiment show effectiveness of this method.
Keywords
Internet; asymptotic stability; delays; feedback; observers; robust control; telerobotics; asymptotically stable; force feedback; internet based teleoperation; position feedback; robust control; slave state; state prediction; time delay; time forward observer; velocity feedback; Communication system control; Control systems; Delay effects; Force feedback; Humans; Impedance; Internet; Master-slave; Robust control; Robustness;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2003. Proceedings of the 2003
ISSN
0743-1619
Print_ISBN
0-7803-7896-2
Type
conf
DOI
10.1109/ACC.2003.1239088
Filename
1239088
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