Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay

Shafiqul Islam Xiaoping P. Liu Abdulmotaleb El Saddik Lakmal Seneviratne Jorge Dias

Shafiqul Islam, Xiaoping P. Liu, Abdulmotaleb El Saddik, Lakmal Seneviratne, Jorge Dias. Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2014, 11(1): 100-108. doi: 10.1007/s11633-014-0771-z
引用本文: Shafiqul Islam, Xiaoping P. Liu, Abdulmotaleb El Saddik, Lakmal Seneviratne, Jorge Dias. Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2014, 11(1): 100-108. doi: 10.1007/s11633-014-0771-z
Shafiqul Islam, Xiaoping P. Liu, Abdulmotaleb El Saddik, Lakmal Seneviratne and Jorge Dias. Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay. International Journal of Automation and Computing, vol. 11, no. 1, pp. 100-108, 2014 doi:  10.1007/s11633-014-0771-z
Citation: Shafiqul Islam, Xiaoping P. Liu, Abdulmotaleb El Saddik, Lakmal Seneviratne and Jorge Dias. Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay. International Journal of Automation and Computing, vol. 11, no. 1, pp. 100-108, 2014 doi:  10.1007/s11633-014-0771-z

Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay

doi: 10.1007/s11633-014-0771-z
基金项目: 

This work was supported by Natural Sciences and Engineering Research Council of Canada (NSERC) Research Fellowship, Canada Research Chairs Program and University of Ottawa Research Chair Program.

Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay

Funds: 

This work was supported by Natural Sciences and Engineering Research Council of Canada (NSERC) Research Fellowship, Canada Research Chairs Program and University of Ottawa Research Chair Program.

More Information
    Author Bio:

    Xiaoping P. Liu received his Ph.D. degree from the University of Alberta in 2002. He has been with the Department of Systems and Computer Engineering, Carleton University, Canada since 2002 and is currently a professor and Canada Research Chair. He has published more than 200 research articles and serves as an associate editor for several journals including IEEE/ASME Transactions on Mechatronics and IEEE Transactions on Automation Science and Engineering. E-mail: xpliu@sce.carleton.ca

    Corresponding author: Shafiqul Islam
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出版历程
  • 收稿日期:  2013-01-21
  • 修回日期:  2013-05-02
  • 刊出日期:  2014-02-20

Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay

doi: 10.1007/s11633-014-0771-z
    基金项目:

    This work was supported by Natural Sciences and Engineering Research Council of Canada (NSERC) Research Fellowship, Canada Research Chairs Program and University of Ottawa Research Chair Program.

    作者简介:

    Xiaoping P. Liu received his Ph.D. degree from the University of Alberta in 2002. He has been with the Department of Systems and Computer Engineering, Carleton University, Canada since 2002 and is currently a professor and Canada Research Chair. He has published more than 200 research articles and serves as an associate editor for several journals including IEEE/ASME Transactions on Mechatronics and IEEE Transactions on Automation Science and Engineering. E-mail: xpliu@sce.carleton.ca

摘要: In this paper, the problem of time varying telecommunication delays in passive teleoperation systems is addressed. The design comprises delayed position, velocity and position-velocity signals with the local position and velocity signals of the master and slave manipulators. Nonlinear adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave manipulators. Lyapunov-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation systems. The stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote sites. Finally, evaluation results are presented to illustrate the effectiveness of the proposed design for real-time applications.

English Abstract

Shafiqul Islam, Xiaoping P. Liu, Abdulmotaleb El Saddik, Lakmal Seneviratne, Jorge Dias. Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2014, 11(1): 100-108. doi: 10.1007/s11633-014-0771-z
引用本文: Shafiqul Islam, Xiaoping P. Liu, Abdulmotaleb El Saddik, Lakmal Seneviratne, Jorge Dias. Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay[J]. 国际自动化与计算杂志(英)/International Journal of Automation and Computing, 2014, 11(1): 100-108. doi: 10.1007/s11633-014-0771-z
Shafiqul Islam, Xiaoping P. Liu, Abdulmotaleb El Saddik, Lakmal Seneviratne and Jorge Dias. Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay. International Journal of Automation and Computing, vol. 11, no. 1, pp. 100-108, 2014 doi:  10.1007/s11633-014-0771-z
Citation: Shafiqul Islam, Xiaoping P. Liu, Abdulmotaleb El Saddik, Lakmal Seneviratne and Jorge Dias. Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay. International Journal of Automation and Computing, vol. 11, no. 1, pp. 100-108, 2014 doi:  10.1007/s11633-014-0771-z
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