PD-like controller for delayed bilateral teleoperation of wheeled robots
نویسندگان
چکیده
منابع مشابه
Bilateral Teleoperation of Wheeled Mobile Robots Working in Common Workspace
This paper proposes a bilateral control framework for mobile robots which share the same workspace. The robots are teleoperated by independent users. Accordingly, for each teleoperated robot the other robots represent moving obstacles or static obstacles with a-priori unknown positions. For such teleoperation systems a velocity generator algorithm is proposed to obtain the linear and angular ve...
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With the widespread use of wheeled mobile robots (WMR) in various applications, new challenges have arisen in terms of designing its control system. One of such challenges is caused by wheel slippage. This paper proposes a new method for haptic teleoperation control of a WMR with longitudinal slippage (not including sliding). In this teleoperation system, the mobile robot’s linear velocity foll...
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We propose a semi-autonomous teleoperation control framework for wheeled mobile robots with nonholonomic constraints and second-order Lagrangian dynamics over the Internet. The proposed control architecture consists of the two control-loops: 1) local autonomous formation control, which, residing in the common workspace of the robots, ensures rigid formationkeeping among the robots regardless of...
متن کاملOn the H2 Decentralized Controller Synthesis for Delayed Bilateral Teleoperation Systems
Abstract: Procedure for the synthesis of decentralized controllers for delayed bilateral teleoperation systems is proposed, based on the analytical solution of a global H optimization. Explicit state-space formulae for the optimal controller are presented. The controller possesses a neat structure, which preserves closed-loop stability regardless of the delay length. The behavior of the resulti...
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ژورنال
عنوان ژورنال: International Journal of Control
سال: 2016
ISSN: 0020-7179,1366-5820
DOI: 10.1080/00207179.2016.1144234