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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Bilateral Control with Time Domain Passivity Approach under Time-varying Communication Delay: Resetting Scheme

시간영역 수동성 기법을 이용하여 시변 시간지연 하에서 안정성을 보장하는 양방향 원격제어기: 리셋 방법

  • 유지환 (한국기술교육대학교 기계정보공학부)
  • Published : 2008.11.01
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Abstract

Recently, two-port time-domain passivity approach was modified for time-varying communication delay. The newly proposed approach could achieve stable teleoperation even under the serious time-varying delay and packet loss communication condition. However, after some operation hour, the accumulated energy difference between the input energy from one port and the output energy at the other port caused unstable behavior until the passivity controller is activated. Resetting scheme is introduced for solving this problem, and stable bilateral teleoperation can be guaranteed without worrying about the accumulated energy difference.

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References

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