Title :
A Review of Bilateral Sampled-Data Control of Teleoperators
Author :
Sheng, Jie ; Liu, Peter X.
Author_Institution :
CSL, Illinois Univ., Champaign, IL
Abstract :
Bilateral control of teleoperators has been discussed a lot, however, the digital nature of the controller and corresponding issues such as passivity for discrete-time systems or sampled-data systems have not been well- studied in the literature. This paper aims to present a survey on sampled-data control for bilateral teleoperation systems issues such as time delays, passivity and stability are also investigated
Keywords :
delay systems; discrete time systems; sampled data systems; stability; telerobotics; bilateral sampled-data control; discrete-time control; discrete-time system; stability; teleoperator; time delay; Communication system control; Control systems; Delay effects; Force control; Humans; Internet; Master-slave; Stability; Teleoperators; Velocity control; bilateral teleoperation; discrete-time control; passivity; sampled-data con trol; stability;
Conference_Titel :
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
0-7803-8614-8
DOI :
10.1109/ROBIO.2004.1521809
