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This paper introduces transparency-optimized control architectures (TOCAs) using two communication channels. Two classes of two-channel TOCAs are found, thereby showing that two channels are sufficient to achieve transparency. These TOCAs achieve a greater level of transparency but poorer stability than three-channel TOCAs and four-channel TOCAs. Stability of the two-channel TOCAs has been enhanced while minimizing transparency degradation by adding a filter; and a combined use of the two classes of two-channel TOCAs is proposed for both free space and constrained motion, which involve switching between two TOCAs for transition between free space and constrained motions. The stability condition of the switched teleoperation system is derived for practical applications. Through the one degree-of-freedom (DOF) experiment, the proposed two-channel TOCAs were shown to operate stably, while achieving better transparency under time delay than the other TOCAs.
Published in:
Control Systems Technology, IEEE Transactions on
(Volume:21
,
Issue:
1
)
Date of Publication: Jan. 2013
- Page(s):
- 40 - 51
- ISSN :
- 1063-6536
- INSPEC Accession Number:
- 13188275
- Digital Object Identifier :
- 10.1109/TCST.2011.2172945
- Product Type:
- Journals & Magazines
- Date of Publication :
- 11 November 2011
- Date of Current Version :
- 20 December 2012
- Issue Date :
- Jan. 2013
- Sponsored by :
- IEEE Control Systems Society
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