DocumentCode
481930
Title
Reset control for passive teleoperation
Author
Fernández, Alejandro ; Barreiro, Antonio ; Banos, Alfonso ; Carrasco, Joaquín
Author_Institution
Dept. Enx. Sist. e Autom., Univ. of Vigo, Vigo
fYear
2008
fDate
10-13 Nov. 2008
Firstpage
2935
Lastpage
2940
Abstract
This paper presents a study on the application of reset control principles to the field of teleoperation based on passivity. The main problem addressed here is the effect of the communication delay. The proposed ideas provide a novel approach which combines the robustness derived from the passivity techniques with the performance improvement enabled by the reset strategy. Results on the stability of the overall setup are presented and simulation examples confirm the good behavior of the proposed solutions.
Keywords
delays; stability; telecontrol; communication delay; passive teleoperation; reset control; reset strategy; robustness; stability; Bandwidth; Communication system control; Control systems; Delay effects; Humans; Master-slave; Passivation; Propagation delay; Robustness; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics, 2008. IECON 2008. 34th Annual Conference of IEEE
Conference_Location
Orlando, FL
ISSN
1553-572X
Print_ISBN
978-1-4244-1767-4
Electronic_ISBN
1553-572X
Type
conf
DOI
10.1109/IECON.2008.4758426
Filename
4758426
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