Stabilization of Teleoperation Systems with Communication Delays: An IMC Approach
The presence of time delays in communication introduces a limitation to the stability of bilateral teleoperation systems. This paper considers internal model control (IMC) design of linear teleoperation system with time delays, and the stability of the closed-loop system is analyzed. It is shown tha...
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2018/1018086 |
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| _version_ | 1832564116118568960 |
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| author | Yuling Li |
| author_facet | Yuling Li |
| author_sort | Yuling Li |
| collection | DOAJ |
| description | The presence of time delays in communication introduces a limitation to the stability of bilateral teleoperation systems. This paper considers internal model control (IMC) design of linear teleoperation system with time delays, and the stability of the closed-loop system is analyzed. It is shown that the stability is guaranteed delay-independently. The passivity assumption for external forces is removed for the proposed design of teleoperation systems. The behavior of the resulting teleoperation system is illustrated by simulations. |
| format | Article |
| id | doaj-art-35dbb577ab43468cba8d494a680b3bb3 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-35dbb577ab43468cba8d494a680b3bb32025-02-03T01:11:47ZengWileyJournal of Robotics1687-96001687-96192018-01-01201810.1155/2018/10180861018086Stabilization of Teleoperation Systems with Communication Delays: An IMC ApproachYuling Li0School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, ChinaThe presence of time delays in communication introduces a limitation to the stability of bilateral teleoperation systems. This paper considers internal model control (IMC) design of linear teleoperation system with time delays, and the stability of the closed-loop system is analyzed. It is shown that the stability is guaranteed delay-independently. The passivity assumption for external forces is removed for the proposed design of teleoperation systems. The behavior of the resulting teleoperation system is illustrated by simulations.http://dx.doi.org/10.1155/2018/1018086 |
| spellingShingle | Yuling Li Stabilization of Teleoperation Systems with Communication Delays: An IMC Approach Journal of Robotics |
| title | Stabilization of Teleoperation Systems with Communication Delays: An IMC Approach |
| title_full | Stabilization of Teleoperation Systems with Communication Delays: An IMC Approach |
| title_fullStr | Stabilization of Teleoperation Systems with Communication Delays: An IMC Approach |
| title_full_unstemmed | Stabilization of Teleoperation Systems with Communication Delays: An IMC Approach |
| title_short | Stabilization of Teleoperation Systems with Communication Delays: An IMC Approach |
| title_sort | stabilization of teleoperation systems with communication delays an imc approach |
| url | http://dx.doi.org/10.1155/2018/1018086 |
| work_keys_str_mv | AT yulingli stabilizationofteleoperationsystemswithcommunicationdelaysanimcapproach |