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

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

作者机构：School of Information Technology and EngineeringUniversity of Ottawa School of Engineering and Applied SciencesHarvard University Robotics and Mechanical EngineeringKhalifa University of Science & Technology Department of Systems and Computer EngineeringCarleton University Electrical EngineeringNew York University Division of EngineeringKings College London Robotics and Electrical and Computer EngineeringKhalifa University of Science & Technology Institute of Systems and RoboticsUniversity of Coimbra 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2014年第11卷第1期

页      面：100-108页

核心收录：

学科分类：0810[工学-信息与通信工程] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 081001[工学-通信与信息系统] 0701[理学-数学] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by Natural Sciences and Engineering Research Council of Canada (NSERC) Research Fellowship Canada Research Chairs Program and University of Ottawa Research Chair Program 

主　　题：Teleoperation telerobotics Lyapunov-Krasovskii functional time varying delay passive systems 

摘      要：In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is *** design comprises delayed position,velocity and position-velocity signals with the local position and velocity signals of the master and slave *** adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave ***-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation *** 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 ***,evaluation results are presented to illustrate the efectiveness of the proposed design for real-time applications.