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Bilateral Teleoperation With Time-Varying Delay: A Communication Channel Passification Approach

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3 Author(s)
Yongqiang Ye ; College of Automation Engineering , Nanjing University of Aeronautics and Astronautics, Nanjing, China ; Ya-Jun Pan ; Trent Hilliard

In this paper, the activeness of bilateral communication with time-varying delay is analyzed. Based on the power-based time-domain passivity control previously proposed, a time-domain passivity control approach is derived for bilateral communication. Teleoperation experimental results verify the effectiveness.

Published in:

IEEE/ASME Transactions on Mechatronics  (Volume:18 ,  Issue: 4 )