Title :
Robust control with observer of internet-based teleoperation
Author :
Qihong, Chen ; Shumin, Fei ; Aiguo, Song
Author_Institution :
Res. Inst. of Autom., Southeast Univ., Nanjing, China
Abstract :
Time delay reduces significantly ability of teleoperation. This problem becomes especially seriously in case of Internet-based teleoperation, when the time delay is variable. To overcome the trouble, time forward observer is used to predict the state of the slave. Moreover, force, position and velocity feedback is proposed to ensure that the system is robust asymptotically stable and transparent. The results of the experiment show effectiveness of this method.
Keywords :
Internet; asymptotic stability; delays; feedback; observers; robust control; telerobotics; asymptotically stable; force feedback; internet based teleoperation; position feedback; robust control; slave state; state prediction; time delay; time forward observer; velocity feedback; Communication system control; Control systems; Delay effects; Force feedback; Humans; Impedance; Internet; Master-slave; Robust control; Robustness;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1239088
