Title :
Reset control for passive teleoperation
Author :
Fernández, Alejandro ; Barreiro, Antonio ; Banos, Alfonso ; Carrasco, Joaquín
Author_Institution :
Dept. Enx. Sist. e Autom., Univ. of Vigo, Vigo
Abstract :
This paper presents a study on the application of reset control principles to the field of teleoperation based on passivity. The main problem addressed here is the effect of the communication delay. The proposed ideas provide a novel approach which combines the robustness derived from the passivity techniques with the performance improvement enabled by the reset strategy. Results on the stability of the overall setup are presented and simulation examples confirm the good behavior of the proposed solutions.
Keywords :
delays; stability; telecontrol; communication delay; passive teleoperation; reset control; reset strategy; robustness; stability; Bandwidth; Communication system control; Control systems; Delay effects; Humans; Master-slave; Passivation; Propagation delay; Robustness; Stability;
Conference_Titel :
Industrial Electronics, 2008. IECON 2008. 34th Annual Conference of IEEE
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-4244-1767-4
Electronic_ISBN :
1553-572X
DOI :
10.1109/IECON.2008.4758426
