Conference
A Multi-model Decentralized Controller for Teleoperation with Time Delay
Abstract
Robust stability constraints can largely limit the performance of bilateral teleoperation systems in the presence of communication time delay. In this paper, a stable decentralized model-based controller is proposed that can enhance the teleoperation transparency in the presence of constant delay. New state/observation transformations produce partially delay-free dynamics/measurement vectors. Using the transformed states/observastions, two …
Authors
Shahdi A; Sirouspour S
Pagination
pp. 496-501
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
October 1, 2007
DOI
10.1109/iros.2007.4399463
Name of conference
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems