Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Stabilizing Control technique for Bilateral Teleoperation System with Time delay using Adjustable Characteristic Impedance of wave Variable

웨이브 변수의 가변 특성 임피던스를 이용한 시간지연을 갖는 양 방향 원격조작시스템의 안정화 제어 방법

  • 김형욱 (한양대학교 전자컴퓨터공학부) ;
  • 김종복 (한양대학교 정보통신대학원) ;
  • 서일홍 (한양대학교 정보통신대학원) ;
  • 이병주 (한양대학교 전자컴퓨터공학부)
  • Published : 2003.08.01
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Abstract

A hybrid stabilization approach involving both Passivity Observer/passivity Controller and wave variables is addressed to stabilize the teleoperation system with time delay. To guarantee the stability of master or slave side, Passivity Observer and Passivity Controller are applied. But Passivity Observer and Passivity Controller technique cannot deal with communication delay and even small communication delay cause the system to be unstable. To cope with this problem, wave variables are additionally employed to have robustness to arbitrary delays. To show the validity of our proposed approach, several computer simulation results are illustrated.

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References

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