Journal article
Adaptive/Robust Control for Time-Delay Teleoperation
Abstract
The control of time-delay bilateral teleoperation systems involves a delicate tradeoff between the conflicting requirements of transparency and robust stability. The control design is complicated by latency in data communication between the master and slave sites, as well as uncertainties in the dynamics of operator, master, slave, and environment. This paper proposes a systematic design procedure for improving teleoperation fidelity while …
Authors
Shahdi A; Sirouspour S
Journal
IEEE Transactions on Robotics, Vol. 25, No. 1, pp. 196–205
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
February 1, 2009
DOI
10.1109/tro.2008.2010963
ISSN
1552-3098