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A New Predictive Approach for Bilateral Teleoperation With Applications to Drive-by-Wire Systems

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3 Author(s)
Ya-Jun Pan ; Dept. of Mech. Eng., Dalhousie Univ., Halifax, NS ; Canudas-de-Wit, C. ; Sename, O.

In this paper, a new predictive approach is proposed for the impedance control of bilateral drive-by-wire teleoperation systems. The proposed control structure includes two mirror predictors/observers in both the master and slave sides. These predictors/observers are used to simultaneously estimate the master and slave internal dynamics, and thereby to avoid the use of the delayed transmitted information. As a consequence, the influence of the delay on the whole system can be minimized and the performance can be improved. Under a set of suited hypotheses, the proposed control structure is shown to be uniformly ultimate stable, even in the presence of time-varying delays. Simulation results are presented to show the effectiveness of the proposed approach. The behavior of the control structure is also experimentally demonstrated while performing remote steering of a small autonomous vehicle

Published in:

Robotics, IEEE Transactions on  (Volume:22 ,  Issue: 6 )