Abstract
In this paper, a novel control scheme is proposed to guarantee position and force tracking in nonlinear teleoperation systems subject to varying communication delays. Stability and tracking performance of the teleoperation system are proved using a proposed Lyapunov-Krasovskii functional. To show its effectiveness, the teleoperation controller is simulated on a pair of planar 2-DOF (degree of freedom) robots and experimented on a pair of 3-DOF PHANToM Premium 1.5A robots connected via a communication channel with time-varying delays. Both the planar robots in simulations and the PHANToM robots in experiments possess nonlinear dynamics.
| Original language | English |
|---|---|
| Pages (from-to) | 1003-1016 |
| Number of pages | 14 |
| Journal | Robotica |
| Volume | 33 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 30 May 2015 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 2014 Cambridge University Press.
Keywords
- Force and position tracking
- Lyapunov-Krasovskii functional
- Nonlinear teleoperation
- Time-varying time delay