Observer design for the synchronization of bilateral delayed teleoperators

DOI10.1016/J.EJCON.2018.06.001MaRDI QIDQ1627537zbMATH OpenOpenAlexWikidataFDO

Authors Marco A. Arteaga-Pérez, Marisol Morales, Mauro López, Emmanuel Nuño

Publication date 30 November 2018

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.ejcon.2018.06.001

zbMATH Keywords

bilateral teleoperatorsobserver designsynchronizationtime delays

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Position tracking in delayed bilateral teleoperators without velocity measurements
• Control of bilateral teleoperators with time delays using only position measurements
• On the delayed kinematic correspondence with variable time delays for the control of the bilateral teleoperation of robots
• Synchronization of bilateral teleoperators with time delay
• Bilateral control of teleoperator systems with time-varying delay

Cites work

• Bilateral teleoperation: An historical survey
• Cartesian control of robots without dynamic model and observer design
• Consensus in networks with arbitrary time invariant linear agents
• Control of bilateral teleoperators with time delays using only position measurements
• Control of semi-autonomous teleoperation system with time delays
• Impedance Control: An Approach to Manipulation: Part III—Applications
• Leader-follower and leaderless consensus in networks of flexible-joint manipulators
• Nonlinear systems.
• Passivity-based control for bilateral teleoperation: a tutorial
• Pose consensus in networks of heterogeneous robots with variable time delays
• Position tracking in delayed bilateral teleoperators without velocity measurements
• Synchronization in the presence of unknown, nonuniform and arbitrarily large communication delay
• Synchronization of bilateral teleoperators with time delay
• Teleoperation in the presence of varying time delays and sandwich linearity in actuators

Cited in

(7)

• Synchronization of bilateral teleoperators with time delay
• Observer based robust output feedback coordination control for bilateral shared autonomous system
• Extended-state-observer-based finite-time synchronization control design of teleoperation with experimental validation
• On the delayed kinematic correspondence with variable time delays for the control of the bilateral teleoperation of robots
• Observer-based force reflecting robust coordination control for networked bilateral shared telerobotic system
• Transparent bilateral teleoperation interacting with unknown remote surfaces with a force/velocity observer design
• Leader-follower and leaderless pose consensus of robot networks with variable time-delays and without velocity measurements

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