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Stabilization Of Teleoperated Systems With Stochastic Time Delays Using Time Domain Passivity Control

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2 Author(s)
Iqbal, A. ; Center for Sensor Syst., Siegen Univ. ; Roth, H.

This work describes the application of time domain passivity control to the stabilization of a one-degree-of-freedom teleoperation system in the presence of stochastic time delays. A non-linear Kalman filter based predictor provides recursive estimates of remote energy which, in conjunction with the master-side energy of a network 2-port, give real-time estimates of net energy across the given port. These estimates are used to design time-varying stabilizing passivity controllers. Beta distributed time delays are predicted using one-step ahead 1st-order predictor

Published in:

SICE-ICASE, 2006. International Joint Conference

Date of Conference:

18-21 Oct. 2006