Title :
Positive realness and tracking of teleoperation systems
Author :
Shi, Minyan ; Tao, Gang ; Graves, Sean ; Downs, J. Hunter
Author_Institution :
Dept. of Electr. Eng., Virginia Univ., Charlottesville, VA, USA
Abstract :
A modified bilateral control scheme is proposed to ensure asymptotic position tracking in absence of time delay for non-contact tasks but arbitrary master trajectories. The positive realness of the modified bilateral teleoperation system is investigated, using a nonlinear transformer two-port to model the transmission of the master acceleration. The method of obtaining the master acceleration from the knowledge of master velocity is also discussed
Keywords :
closed loop systems; position control; telerobotics; asymptotic position tracking; master acceleration; modified bilateral control scheme; noncontact tasks; nonlinear transformer two-port; positive realness; teleoperation systems; Acceleration; Circuits; Communication system control; Control systems; Delay effects; Equations; Force control; Master-slave; Teleoperators; Torque control;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.757829
