PD-like controller for delayed bilateral teleoperation of wheeled robots

DOI10.1080/00207179.2016.1144234MaRDI QIDQ2954064zbMATH OpenOpenAlexFDO

Authors Emanuel Slawiñski, Vicente A. Mut, D. Santiago

Publication date 11 January 2017

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

Full work available at URL http://hdl.handle.net/11336/61279

zbMATH Keywords

time delayforce feedbackbilateral teleoperationPD-like controllerwheeled dynamic robot

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) 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

• PD‐like controllers for delayed bilateral teleoperation of manipulators robots
• Delayed bilateral teleoperation of wheeled robots including a command metric
• PDC control design for non-holonomic wheeled mobile robots with delayed outputs
• Stable delayed bilateral teleoperation of mobile manipulators
• Bilateral control of teleoperator systems with time-varying delay
• 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
• Time domain passivity control of time-delayed bilateral telerobotics with prescribed performance
• A novel adaptive robust control architecture for bilateral teleoperation systems under time-varying delays

Cites work

• A novel control design for delayed teleoperation based on delay-scheduled Lyapunov–Krasovskii functionals
• Bilateral teleoperation: An historical survey
• PD‐like controllers for delayed bilateral teleoperation of manipulators robots
• Time-delay systems: an overview of some recent advances and open problems.
• Tutorial on Lyapunov-based methods for time-delay systems

Cited in

(4)

• Delayed trilateral teleoperation of a mobile robot
• PD‐like controllers for delayed bilateral teleoperation of manipulators robots
• Delayed bilateral teleoperation of wheeled robots including a command metric
• PDE approach for time delays in robotized teleoperation

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