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IMC-based Design for Teleoperation Systems with Time Delays

  • Yuling Li
  • Yixin Yin
  • Dezheng Zhang
Regular Paper Robot and Applications
  • 44 Downloads

Abstract

The presence of time delays in communication introduces a limitation to the stability of bilateral teleoperation systems. In this study, we address the design of Internal Model Control (IMC)-based controllers for teleoperation systems with arbitrary time delays. The two degrees of freedom IMC structure is utilized for the master and the slave respectively and thus the passivity-assumption on the external forces is not required. The stability of the overall system is analyzed by regarding the whole system as a multivariable system. A performance-oriented controller design process which guarantees the delayed tracking between the master and the slave is also given. Finally, an example is given to validate the effectiveness of the proposed method.

Keywords

Control of robotic systems IMC teleoperation systems time-delays 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.School of Automation and Electrical EngineeringUniversity of Science and Technology BeijingBeijingP. R. China
  2. 2.Key Laboratory of Knowledge Automation for Industrial ProcessesMinistry of EducationBeijingP. R. China
  3. 3.School of Computer and Communication EngineeringUniversity of Science and Technology BeijingBeijingChina

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