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A control scheme for bilateral teleoperation systems based on time-varying communication delay identification

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2 Author(s)
Tao Zhang ; Dept. of Control Sci. & Eng., Jilin Univ. ; Yuanchun Li

In this paper, we first introduce passivity and wave variables, and then analyze the reasons of time-varying communication delay. For this time-varying delay we propose a time-varying communication delay identification method and from this method the time-varying communication delay parameter can converge quickly. Finally we combine this method with wave integrals and propose a control scheme especially for time-varying communication delay. The effectiveness of the proposed method has been demonstrated through the simulations

Published in:

Systems and Control in Aerospace and Astronautics, 2006. ISSCAA 2006. 1st International Symposium on

Date of Conference:

19-21 Jan. 2006