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control of a Teleoperation Drive-by-Wire System with Communication Time-Delay
2006 Edition, June 1, 2006 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

An Halpha approach to robust control of bilateral teleoperation systems under communication time-delay is considered and applied on an experimental setup. Using a small gain approach an Halpha controller is first designed in the nominal case...

Passive teleoperation control with varying time delay
2006 Edition, January 1, 2006 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper is devoted to the passivity based control in force reflecting bilateral teleoperation for varying time communication delay. In order to improve the stability and task performance, master and slave in bilateral teleoperation must be coupled...

Stability analysis of teleoperation system by state convergence with variable time delay
2013 Edition, June 1, 2013 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

We propose a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. A major contribution from this work lies in the demonstration that...

Realization of simultaneity in bilateral teleoperation system under time delay
2014 Edition, March 1, 2014 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Bilateral teleoperation is a research area that have been studied for years. Bilateral control system realizes bilateral teleoperation with force sensation feedback to the operator. However, when two systems are placed far from each other,...

Stable and transparent teleoperation over communication time-delay: Observer-based input-to-state stable approach
2016 Edition, April 1, 2016 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

In this paper, an observer-based input-to-state stable approach is proposed to stabilize teleoperation systems over communication time-delay with better transparency compared with passivity approaches. In this paper, input-to-state stable approach is...

Stability analysis of bilateral teleoperation system based on data sampling with time delay
2017 Edition, November 1, 2017 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

In this paper, the stability problem of bilateral tele-operation systems with data sampling and communication time delays is considered. Two buffers are introduced in the bilateral teleoperation control framework to deal with the issue...

Control of a teleoperation system by state convergence with variable time delay
2012 Edition, November 1, 2012 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

In this paper, we propose a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. We consider that the human operator contains a...

Stable Bilateral Teleoperation With Bounded Control
Volume PP - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper studies a problem of bilateral teleoperation in the presence of asymmetric communication delays, in the case when there is a controller saturation constraint on both the local and remote manipulators. Stability under time...

Bilateral teleoperation under time-varying delay using wave variables
2009 Edition, October 1, 2009 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Any teleoperation system involving two distant devices is affected by communication delay due to the physical gap between the devices. Several approaches based on wave variables have already been proposed to deal with time-varying delay....

Predictive Communication Quality Control in Haptic Teleoperation With Time Delay and Packet Loss
2016 Edition, Volume 46, August 1, 2016 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Teleoperation in extreme environments may suffer from communication delay and packet loss during the transmission of command signals and sensory feedback. This study investigates whether online control of communication time delay...

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