Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Control of a teleoperation system by state convergence with variable time delay
Year:2012
Research Areas
  • Electric engineers, electronic and automatic (eil)
Information
Abstract
n this paper, we propose a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. We consider that the human operator contains a constant force on the local manipulator. The local and remote manipulators are coupled using state convergence control scheme. By choosing a Lyapunov-Krasovskii functional, we show that the local-remote teleoperation system is asymptotically stable. It is also shown that, in the case of reliable communication protocols, the proposed scheme guarantees that the remote manipulator tracks the delayed trajectory of the local manipulator. The time delay of communication channel is assumed to be unknown and randomly time varying, but the upper bounds of the delay interval and the derivative of the delay are assumed to be known.
International
Si
Congress
Mecatronics-REM 2012 IEEE
960
Place
Paris
Reviewers
Si
ISBN/ISSN
978-1-4673-4770-9
10.1109/MECATRONICS.2012.6450986
Start Date
21/11/2112
End Date
23/11/2013
From page
40
To page
47
Mechatronics (MECATRONICS) , 2012 9th France-Japan & 7th Europe-Asia Congress on and Research and Education in Mechatronics (REM), 2012 13th Int'l Workshop on
Participants
  • Autor: Julio Tafur (Pontificia Univ. Catolica del Peru)
  • Autor: Cecilia Elisabet Garcia Cena (UPM)
  • Autor: Rafael Aracil Santonja (UPM)
  • Autor: Roque Jacinto Saltaren Pazmiño (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robots y máquinas inteligentes
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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