Delayed Generalized Predictive Control of Bilateral Teleoperation Systems
نویسندگان
چکیده
This paper presents a Delayed Generalized Predictive Controller (DGPC) by internal model for bilateral teleoperation systems in the presence of both communication delays and force feedback. First, the Π-freeness algebraic property of mechanical delayed systems, which presents some similarity with the notion of flatness, is used for the slave system to track a master system reference trajectory; the DGPC next ensures stability of the global slave system in spite of delays, disturbances or the slave force feedback (the reference trajectory is not a priori known). Simulation results illustrate the performance of the proposed predictive polynomial controller. Copyright c © 2005 IFAC
منابع مشابه
Delay-dependent stability for transparent bilateral teleoperation system: an LMI approach
There are two significant goals in teleoperation systems: Stability and performance. This paper introduces an LMI-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. The uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. The time delay in communicatio...
متن کاملBilateral Teleoperation Systems Using Backtracking Search optimization Algorithm Based Iterative Learning Control
This paper deals with the application of Iterative Learning Control (ILC) to further improve the performance of teleoperation systems based on Smith predictor. The goal is to achieve robust stability and optimal transparency for these systems. The proposed control structure make the slave manipulator follow the master in spite of uncertainties in time delay in communication channel and model pa...
متن کاملNeuro-fuzzy control of bilateral teleoperation system using FPGA
This paper presents an adaptive neuro-fuzzy controller ANFIS (Adaptive Neuro-Fuzzy Inference System) for a bilateral teleoperation system based on FPGA (Field Programmable Gate Array). The proposed controller combines the learning capabilities of neural networks with the inference capabilities of fuzzy logic, to adapt with dynamic variations in master and slave robots and to guarantee good prac...
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...
متن کاملStabilization of Delayed Teleoperation Using Predictive Time-domain Passivity Control
ABSTRACT Stability is an important issue in bilateral teleoperation due to different factors like varying operating conditions, existence of time-delays, etc. Recently, time-domain passivity control (see [1]) has been proposed to stabilize unstable telerobotic systems and has shown good performance in situations where one or more components of the system behave actively. However, this scheme re...
متن کامل