H∞-Based Impedance Control of Teleoperation Systems with Time Delay
نویسندگان
چکیده
Impedance control is used to control the relationship between the applied forces and the position of the manipulator when it interacts with the environment. In bilateral teleoperation systems, communication time delay could make the system unstable and certainly degrade the operator’s intuition and performance. In this paper, a scheme for impedance control of bilateral teleoperation systems in the presence of communication time delay is proposed. Two local controllers for master and slave manipulators are firstly designed in order to get some specified compliance. Then, a global controller is designed based on H∞ framework such that the global system, including communication time delay, is stable and the desired impedance characteristic of the slave manipulator is achieved asymptotically.
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