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Explicit time‐delay compensation in teleoperation: An adaptive control approach
Author(s) -
Abidi K.,
Yildiz Y.,
Korpe B. E.
Publication year - 2016
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3513
Subject(s) - teleoperation , transparency (behavior) , compensation (psychology) , telerobotics , computer science , control theory (sociology) , haptic technology , adaptive control , adaptation (eye) , control engineering , stability (learning theory) , controller (irrigation) , robot , control (management) , simulation , engineering , mobile robot , artificial intelligence , agronomy , physics , computer security , machine learning , psychoanalysis , optics , biology , psychology
Summary This paper proposes a control framework that addresses the destabilizing effect of communication time delays and system uncertainties in telerobotics, in the presence of force feedback. Force feedback is necessary to obtain transparency, which is providing the human operator as close a feel as possible of the environment where the slave robot is operating. Achieving stability and providing transparency are conflicting goals. This is the major reason why, currently, a very few, if at all, fully operational force feedback teleoperation devices exist except for research environments. The proposed framework handles system uncertainty with adaptation and communication time delays with explicit delay compensation. The technology that allows this explicit adaptive time‐delay compensation is inspired by Massachusetts Institute of Technology (MIT)'s Adaptive Posicast Controller. We provide simulation results that demonstrate stable explicit adaptive delay compensation in a force‐reflecting teleoperation set up. Copyright © 2016 John Wiley & Sons, Ltd.