Conference
Bilateral Teleoperation under Communication Time Delay Using an LQG Controller
Abstract
The communication channel delay can adversely affect performance and stability of bilateral teleoperation systems. This paper proposes a discrete-time Linear Quadratic Gaussian (LQG) controller that delivers a transparent stable response in the presence of constant communication latency. Different controllers are designed for each phase of operation, i.e. free motion and contact with rigid environments. Switching between the controllers occurs …
Authors
Sirouspour S; Shahdi A
Pagination
pp. 1257-1262
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
January 1, 2005
DOI
10.1109/cca.2005.1507304
Name of conference
Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.